Functional Architecture using ROS for Autonomous UAVs

Johvany Gustave, Jamy Chahal, Assia Belbachir

2020

Abstract

Unmanned Aerial Vehicles (UAVs) are used for several applications due to their stability and versatility. In this paper, we developed a functional architecture for autonomous UAVs using Robot Operating System (ROS). Due to its flexibility and its easy-to-use implementation, our architecture simplifies embedding autonomous behaviours for any kind of UAV. This hierarchical architecture is divided into three layers: decision, control and perception layer. In this paper, all the layers and their implementation under ROS are explained and detailed.

Paper Citation

in Harvard Style

Gustave J., Chahal J. and Belbachir A. (2020). Functional Architecture using ROS for Autonomous UAVs.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 506-512. DOI: 10.5220/0009888305060512

in Bibtex Style

@conference{icinco20,
author={Johvany Gustave and Jamy Chahal and Assia Belbachir},
title={Functional Architecture using ROS for Autonomous UAVs},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={506-512},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888305060512},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Functional Architecture using ROS for Autonomous UAVs
SN - 978-989-758-442-8
AU - Gustave J.
AU - Chahal J.
AU - Belbachir A.
PY - 2020
SP - 506
EP - 512
DO - 10.5220/0009888305060512