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An ARVA Sensor Simulator

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Robot Operating System (ROS)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 895))

Abstract

Robot Operating System (ROS) framework supports different kind of sensors, typically used to develop robotic applications, such as vision and depth sensors, laser scanners and so on. In this chapter, we present a new ROS package designed to simulate ARVA transceiver sensors: arva_sim. ARVA is a French acronym which stands for Appareil de Recherche de Victims en Avalanche and represents the forefront technology adopted in Search & Rescue operations to localize victims of avalanches buried under the snow. In order to simulate its behavior, this package provides two Gazebo plugins: the transmitter and receiver. The aim of this chapter is to describe the mathematical and theoretical background of the transceiver, discussing its implementation and integration with ROS. To demonstrate the accuracy of the proposed sensor model, we present a simulation scenario in which an Unmanned Aerial Vehicle (UAV) equipped with the transceiver sensor performs a basic S&R pattern using the output of ARVA system. It is worth nothing that the proposed ROS package, arva_sim, represents the first simulation model of an ARVA transceiver system and can be useful for the developer to design, test and benchmark faster and smarter search strategies to speed up rescue missions in case of avalanches.

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Notes

  1. 1.

    The roslaunch is a fundamental tool that manages the launch of the ROS nodes. This command takes as argument a .launch file specifying the list of ROS nodes to be executed. Such launch file can be invoked either directly referencing its complete path, or just specifying the package name and the launch file in that package. In the latter case, the syntax of the command is reported in the line $ roslaunch package_name launch_file. Since the roslaunch command commonly holds the Linux shell, multiple terminals should be used to run the proposed test.

  2. 2.

    http://gazebosim.org/tutorials/?tut=plugins_hello_world.

  3. 3.

    http://wiki.ros.org/xacro.

  4. 4.

    http://wiki.ros.org/xacro.

  5. 5.

    http://docs.ros.org/jade/api/tf2_msgs/html/msg/TFMessage.html.

  6. 6.

    http://wiki.ros.org/visualization_msgs.

  7. 7.

    https://px4.io/.

  8. 8.

    http://wiki.ros.org/mavros.

  9. 9.

    https://github.com/PX4/sitl_gazebo.

  10. 10.

    http://wiki.ros.org/hector_quadrotor.

  11. 11.

    http://docs.ros.org/api/mavros_msgs/html/msg/PositionTarget.html.

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Acknowledgements

This research was supported by the European Project AIRBORNE, Grant Agreement no. 780960, web site https://www.airborne-project.eu/.

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Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples “Federico II”, Via Claudio, 21, 80125, Naples (NA), Italy

    Jonathan Cacace

  2. Department of Electrical, Electronic and Information Engineering “Guglielmo Marconi”, University of Bologna, Via Risorgimento, 2, 40136, Bologna (BO), Italy

    Nicola Mimmo & Lorenzo Marconi

Authors
  1. Jonathan Cacace
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  2. Nicola Mimmo
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  3. Lorenzo Marconi
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Corresponding author

Correspondence to Nicola Mimmo .

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Editors and Affiliations

  1. College of Computer Science and Information Systems, Prince Sultan University, Riyadh, Saudi Arabia

    Anis Koubaa

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Cacace, J., Mimmo, N., Marconi, L. (2021). An ARVA Sensor Simulator. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 895. Springer, Cham. https://doi.org/10.1007/978-3-030-45956-7_8

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