Keyword: «software-in-the-loop simulation»

Research and training environment based on ardupilot sitl and rviz for practicing group control of unmanned platforms

Authors:

Ilya Svetlakov,

Lavrentii Ermakov

This article describes an educational–research environment for practicing multi-UAV cooperative control algorithms, built on ArduPilot SITL and ROS/RViz. A teaching approach is proposed with missions of increasing difficulty and metric-based assessment. As an example, distance-keeping control loop tuning using the one-factor-at-a-time (OFAT) method is presented, with analysis of formation error and collisions.

Keywords: educational robotics, unmanned aerial vehicles, group control, decentralized coordination, software-in-the-loop simulation, ardupilot, sitl, rviz, trajectory visualization, training assignments