Robotic

• Eight-rotor aer­i­al vehi­cles allow­ing advanced tests for research
• Mod­u­lar struc­ture which can inte­grate high qual­i­ty sen­sors (Lidar, RTK GPS, HD cam­eras, etc.)
• Fault tol­er­ant appli­ca­tions (redun­dan­cy of actu­a­tors), vision appli­ca­tions (auto­mat­ic mon­i­tor­ing of lines, sta­bi­liza­tion by Opti­cal Flow)
• 1.1 Kg payload

• Four-rotor pro­to­types
• Inter-UAV com­mu­ni­ca­tion
• Robust, aggres­sive control
• Fault tol­er­ant appli­ca­tions (with­out redun­dan­cy of actuators)
• Flight for­ma­tion and inter-fleet cooperation
• Embed­ded mul­ti­sen­so­ry perception
• Tra­jec­to­ry gen­er­a­tion and tracking
• Human-robot inter­ac­tion

• Eight-rotor aer­i­al vehi­cle with pas­sive inflat­able pro­tec­tion, with no rigid struc­ture between the motors
• Safe con­tact with humans and objects
• Sim­i­lar to MODUL-AIR tech­nol­o­gy (see above)
• Patent­ed drone configuration

• Large lift­ing capacity
• High auton­o­my, using hydraulic technology
• Project linked to an indus­tri­al research chair spe­cial­iz­ing in hydraulic technology
• Close col­lab­o­ra­tion between the Rober­val and Heudi­asyc labs

The FL-AIR (Frame­work Libre Air) was devel­oped by Heudi­asyc plat­form staff. Its main goal is to facil­i­tate the imple­men­ta­tion, tun­ing and test­ing of the algo­rithms devel­oped. This frame­work is based on Lin­ux and is com­pat­i­ble with Xeno­mai (real-time fea­tures); it man­ages all com­mu­ni­ca­tions and real-time lay­ers. To make mon­i­tor­ing of sys­tem states dur­ing exper­i­ments eas­i­er, a ground sta­tion is built automatically.

In addi­tion, a sim­u­la­tor based on FL-AIR was also devel­oped to safe­ly test and ana­lyze the per­for­mance of the algo­rithms devel­oped before real flights. Pos­si­ble bugs and errors can thus be detect­ed and rec­ti­fied. A 3D envi­ron­ment (see fig­ure below) allows all embed­ded sen­sors (cam­eras, Lidars, etc.) to be emulated.

The cur­rent merg­ing of net­work­ing and con­trol research fields with­in the scope of robot­ic appli­ca­tions is cre­at­ing fas­ci­nat­ing research and devel­op­ment oppor­tu­ni­ties. How­ev­er, the tools for a prop­er and easy man­age­ment of exper­i­ments still lag behind.

We fill such gap in the lit­er­a­ture by propos­ing a nov­el simulation.

Frame­work for con­trol­ling net­worked sys­tem, called Com­mU­ni­ca­tionS-Con­trol dis­trib­Uted Sim­u­la­tor (CUSCUS). Dif­fer­ent­ly from the state of the art, CUSCUS allows sim­u­lat­ing both the /UAV net­work­ing and flight control/, via the inte­gra­tion of two existing.

Tools: the Frame­work Libre AIR (FL-AIR) sim­u­la­tor and the main­stream net­work sim­u­la­tor [NS‑3]. CUSCUS also includes a sce­nario mod­ule for easy load­ing of sce­nar­ios direct­ly out of OpenStreetMap.