Hiba, Antal (SZTAKI Institute for Computer Science and Control), Körtvélyesi, Viktor (SZTAKI Institute for Computer Science and Control), Kiskaroly, Albert (SZTAKI Institute for Computer Science and Control), Bhoite, Omkar (SZTAKI Institute for Computer Science and Control), Dávid, Patrik (SZTAKI Institute for Computer Science and Control), Majdik, András L. (SZTAKI Institute for Computer Science and Control)

Indoor Vehicle-In-The-Loop Simulation of Unmanned Micro Aerial Vehicle with Artificial Companion

Scheduled for presentation during the Regular Session "Simulation I" (WeA4), Wednesday, June 7, 2023, 12:00−12:20, Room 465

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Vehicle-in-the-loop simulation is an extension of the well-known hardware-in-the-loop technique, where a vehicle moves in real space while a simulator generates input for on-board sensors real-time. VIL frameworks designed for unmanned aerial vehicles have many open challenges. This paper introduces an indoor VIL for micro aerial vehicles in a drone arena equipped with precise positioning system and reliable wireless communication. This indoor setup stands as a prototype and predecessor for other outdoor VIL simulators for large scale applications. The raw optical navigation performance is tested which is the building block for sensor fusion and on-board fast sensor consistency check. A use-case of a companion drone in cooperative navigation is also presented.