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

Content Provider	IEEE Xplore Digital Library
Author	Wei Meng Yuchao Hu Jiaxin Lin Feng Lin Teo, R.
Copyright Year	2015
Description	Author affiliation: Temasek Labs., Nat. Univ. of Singapore, Singapore, Singapore (Wei Meng; Yuchao Hu; Jiaxin Lin; Feng Lin; Teo, R.)
Abstract	In this paper, we will introduce our newly developed 3D simulation system for miniature unmanned aerial vehicles (UAVs) navigation and control in GPS-denied environments. As we know, simulation technologies can verify the algorithms and identify potential problems before the actual flight test and to make the physical implementation smoothly and successfully. To enhance the capability of state-of-the-art of research-oriented UAV simulation system, we develop a 3D simulator based on robot operation system (ROS) and a game engine, Unity3D. Unity3D has powerful graphics and can support high-fidelity 3D environments and sensor modeling which is important when we simulate sensing technologies in cluttered and harsh environments. On the other hand, ROS can provide clear software structure and simultaneous operation between hardware devices for actual UAVs. By developing data transmitting interface and necessary sensor modeling techniques, we have successfully glued ROS and Unity together. The integrated simulator can handle real-time multi-UAV navigation and control algorithms, including online processing of a large number of sensor data.
Sponsorship	IEEE
Starting Page	002562
Ending Page	002567
File Size	796691
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392488
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Solid modeling Robot sensing systems Laser radar Navigation Games
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Multi-contour initial pose estimation for 3D registration

A high fidelity simulator for a quadrotor UAV using ROS and Gazebo

Three-dimensional mapping based on SIFT and RANSAC for mobile robot

Lidar Data Reduction for Unmanned Systems Navigation in Urban Canyon

Calibration method for extending single-layer LIDAR to multi-layer LIDAR

Incremental dense multi-modal 3D scene reconstruction

Time-optimal UAV trajectory planning for 3D urban structure coverage

Dynamic obstacles detection and 3D map updating

Multi-variable constrained control approach for a three-dimensional eel-like robot

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

Similar Documents

Multi-contour initial pose estimation for 3D registration

A high fidelity simulator for a quadrotor UAV using ROS and Gazebo

Three-dimensional mapping based on SIFT and RANSAC for mobile robot

Lidar Data Reduction for Unmanned Systems Navigation in Urban Canyon

Calibration method for extending single-layer LIDAR to multi-layer LIDAR

Incremental dense multi-modal 3D scene reconstruction

Time-optimal UAV trajectory planning for 3D urban structure coverage

Dynamic obstacles detection and 3D map updating

Multi-variable constrained control approach for a three-dimensional eel-like robot

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