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  • Fast MAV control by control/status OO-messages on shared-memory middleware

    Author(s)
    Joukoff, Dimitri
    Estivill-Castro, Vladimir
    Hexel, Rene
    Lusty, Carl
    Griffith University Author(s)
    Hexel, Rene
    Year published
    2017
    Metadata
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    Abstract
    We describe how control/status OO-messages on shared-memory middleware can provide better performing control of a micro-air vehicle (MAV). To illustrate this, we provide a new hardware abstraction for a controller application that is completely analogous to the popular ardrone_autonomy (AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard in parallel with the ROSAA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard ...
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    We describe how control/status OO-messages on shared-memory middleware can provide better performing control of a micro-air vehicle (MAV). To illustrate this, we provide a new hardware abstraction for a controller application that is completely analogous to the popular ardrone_autonomy (AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard in parallel with the ROSAA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard messaging in place of ROSmessages and services. We explain how further performance improvements can be achieved by fully implementing the Time Triggered Architecture (TTA) of the gusimplewhiteboard and its associated tools (clfsm & LLFSMs).
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    Conference Title
    ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 4
    Volume
    447
    DOI
    https://doi.org/10.1007/978-3-319-31293-4_16
    Subject
    Other information and computing sciences not elsewhere classified
    Publication URI
    http://hdl.handle.net/10072/340775
    Collection
    • Conference outputs

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