ROS+unity: An efficient high-fidelity 3D multi-UAV navigation and control simulator in GPS-denied environments

Meng, Wei; Hu, Yuchao; Lin, Jiaxin; Lin, Feng; Teo, Rodney

doi:10.1109/iecon.2015.7392488

Cited by 43 publications

(15 citation statements)

References 11 publications

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“…Three applications are presented: an interface for monitoring a fleet of drones, another interface for commanding a robot manipulator and an integration of multiple ground and aerial robots. Also for Unity, ROSUnitySim [8] presents an efficient highfidelity 3D multi-UAV navigation and control simulator in GPS-denied environments.…”

Section: Introductionmentioning

confidence: 99%

ROS-MAGNA, a ROS-based framework for the definition and management of multi-UAS cooperative missions

Millan-Romera

Pérez-León

Castillejo-Calle

et al. 2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents a general framework for the definition and management of cooperative missions for multiple Unmanned Aircraft Systems (UAS) based on the Robot Operating System (ROS). This framework makes transparent the type of autopilot on-board and creates the state machines that control the behaviour of the different UAS from the specification of the multi-UAS mission. In addition, it integrates a virtual world generation tool to manage the information of the environment and visualize the geometrical objects of interest to properly follow the progress of the mission. The framework supports the coexistence of software-in-the-loop, hardware-inthe-loop and real UAS cooperating in the same arena, being a very useful testing tool for the developer of UAS advanced functionalities. To the best of our knowledge, it is the first framework which endows all these capabilities. The paper also includes simulations and real experiments which show the main features of the framework.

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Section: Introductionmentioning

confidence: 99%

ROS-MAGNA, a ROS-based framework for the definition and management of multi-UAS cooperative missions

Millan-Romera

Pérez-León

Castillejo-Calle

et al. 2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…Unity 3D [23] has been used to simulate different environments [24]. One environment has been developed for controlling multiple UAVs [25]. Another is SARGE, a search and rescue game environment [26] which also simulates robot sensors.…”

Section: Introductionmentioning

confidence: 99%

Virtualization of Robotic Hands Using Mobile Devices †

et al. 2019

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This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

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“…Christian Hu [13] established a 3D visualization environment of an airplane cabin that simulates and visualizes the passengers' behavior awareness and path. By establishing a real-time 3D multi-aircraft path planning and simulation system [14][15], a proposal was put forward to couple the virtual environment with actual sensors, such as radars. This simulation system can visually control the aircraft and verify the algorithm of path planning.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Reality Collaborative Planning Simulator and Its Method for Three Machines in a Fully Mechanized Coal Mining Face

et al. 2018

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The existing automatic control program and its parameters for three machines in a fully mechanized coalmining face are static and simplex and are therefore inadequate for satisfying the complex and dynamic environment of underground coal mines. To overcome this problem, a collaborative mathematical model is established that includes the effects of a dynamic environment. A virtual reality collaborative planning simulator with methods for the three machines is also proposed based on a multi-agent system (MAS). According to the dynamic characteristics of the environment, equipment and technologies, a fully mechanized Unity3D simulator (FMUnitySim) is designed in terms of multiple factors and multiple dimensions. The factors affecting the coordinated operation of the three machines are analyzed and modeled. The communication modes, coordination, and redundant sensing process among multiple agents, which include the shearer agent and the scraper conveyor agent, are also investigated in detail. Using this system, the key parameters of the three machines can be planned and adjusted online to design and distinctly observe the corresponding collaborative simulations of coordinated operation with multiple perspectives and in real time. Tests of different maximum shearer haulage speeds for regular or reverse transporting coal are designed; their key parameters, including the average shearer haulage speed, average follower distance, and average scraper conveyor load, are planned and simulated using FMUnitySim. The optimal parameter combination is obtained by analyzing and comparing the simulation results. The proposed FMUnitySim offers an effective means and theoretical basis for the rapid planning and safe automatic production of a fully mechanized coalmining face.

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ROS+unity: An efficient high-fidelity 3D multi-UAV navigation and control simulator in GPS-denied environments

Cited by 43 publications

References 11 publications

ROS-MAGNA, a ROS-based framework for the definition and management of multi-UAS cooperative missions

ROS-MAGNA, a ROS-based framework for the definition and management of multi-UAS cooperative missions

Virtualization of Robotic Hands Using Mobile Devices †

A Virtual Reality Collaborative Planning Simulator and Its Method for Three Machines in a Fully Mechanized Coal Mining Face

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