@inproceedings{7f621b58fa4f4f6ba443bcefd5f0eecc,
title = "UavEE: A modular, power-aware emulation environment for rapid prototyping and testing of UAVs",
abstract = "State of the art design and testing of avionics for unmanned aircraft is an iterative process that involves many test flights, interleaved with multiple revisions of the flight management software and hardware. To significantly reduce flight test time and software development costs, we have developed a real-time UAV Emulation Environment (uavEE) using ROS that interfaces with high fidelity simulators to simulate the flight behavior of the aircraft. Our uavEE emulates the avionics hardware by interfacing directly with the embedded hardware used in real flight. The modularity of uavEE allows the integration of countless test scenarios and applications. Furthermore, we present an accurate data driven approach for modeling of propulsion power of fixed-wing UAVs, which is integrated into uavEE. Finally, uavEE and the proposed UAV Power Model have been experimentally validated using a fixed-wing UAV testbed.",
keywords = "Autonomous, Autopilot, Emulation, Rapid prototyping, Testing, UAV",
author = "Mirco Theile and Dantsker, {Or D.} and Richard Nai and Marco Caccamo",
note = "Funding Information: The material presented in this paper is based upon work supported by the National Science Foundation (NSF) under grant number CNS-1646383. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the authors and do not necessarily reflect the views of the NSF. Funding Information: The material presented in this paper is based upon work supported by the National Science Foundation (NSF) under grant number CNS-1646383. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the authors and do not necessarily reflect the views of the NSF. We would like to thank Prof. Renato Mancuso and Andrew Louis for their help with flight testing, ground station, development, and emulation environment development. Publisher Copyright: {\textcopyright} 2018 IEEE.; 24th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018 ; Conference date: 29-08-2018 Through 31-08-2018",
year = "2019",
month = jan,
day = "9",
doi = "10.1109/RTCSA.2018.00034",
language = "English (US)",
series = "Proceedings - 2018 IEEE 24th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "217--224",
booktitle = "Proceedings - 2018 IEEE 24th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018",
address = "United States",
}