A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

System requirements

Required OS is Ubuntu 18.04 64-bit or their flavors that can install ROS Melodic. The suggested variant of OS installation is dual boot instead of virtualization that can be slow and can not handle well the simulation GUI. We use Gitman to manage the repository submodules. The repository are supposed to be compiled by catkin tools.

The paper is available at this link. If you are using this simulator within the research for your publication, please cite:

@INPROCEEDINGS{SilanoICUAS21,
author="Silano, Giuseppe and Bednar, Jan and Nascimento, Tiago and Capitan, Jesus
  and Saska, Martin and Ollero, Anibal",
title="A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot
Systems in Power Line Inspection Tasks",
booktitle="2021 International Conference on Unmanned Aircraft Systems (ICUAS)", 
year="2021",
publisher="IEEE",
pages="1624--1629",
doi="10.1109/ICUAS51884.2021.9476813"
}

Installation

1. Follow the insctructions in the MRS UAV System repository to install the MRS System.
2. After the installation checkout the uav_core and simulation package to icuas_2021_sw_architecture_acws branch and rebuild the mrs_workspace again.

    cd ~/mrs_workspace/src/uav_core/
    git checkout icuas_2021_sw_architecture_acws
    cd ~/mrs_workspace/src/simulation/
    git checkout icuas_2021_sw_architecture_acws
    catkin build

2. Clone and build the Aerial-Core package.

    cd ~/workspace/src/
    git clone git@github.com:ctu-mrs/aerialcore_simulation.git
    cd aerialcore_simulation
    git checkout icuas_2021_sw_architecture_acws
    catkin build

3. Clone and build the Trajectory loader package.

    cd ~/workspace/src/
    git clone git@github.com:ctu-mrs/trajectory_loader.git
    cd trajectory_loader
    git checkout icuas_2021_sw_architecture_acws
    catkin build

4. Check if garmin_down is in the SENSORS variable of the .bashrc.

Running the simulation

Inspection

1. Go to scripts\inspection\ folder and launch start.sh

cd scripts\inspection\
./start.sh

Safety

1. Go to scripts\safety\ folder and launch start.sh

cd scripts\safety\
./start.sh

Multimedia materials

Additional information and multimedia material are reported on the website. More about the project can be found on the MRS website.