ROS/Gazebo Based Simulation of Co-operative UAVs

  • Cinzia BernardeschiEmail author
  • Adriano Fagiolini
  • Maurizio Palmieri
  • Giulio Scrima
  • Fabio Sofia
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11472)


UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed.


ROS/Gazebo Co-operative UAVs Simulation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Cinzia Bernardeschi
    • 1
    Email author
  • Adriano Fagiolini
    • 2
  • Maurizio Palmieri
    • 3
  • Giulio Scrima
    • 1
  • Fabio Sofia
    • 1
  1. 1.Department of Information EngineeringUniversity of PisaPisaItaly
  2. 2.Department of Energy, Information Engineering and Mathematical ModelsUniversity of PalermoPalermoItaly
  3. 3.Department of Information EngineeringUniversity of FlorenceFlorenceItaly

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