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dc.contributor.authorJoukoff, Dimitri
dc.contributor.authorEstivill-Castro, Vladimir
dc.contributor.authorHexel, Rene
dc.contributor.authorLusty, Carl
dc.contributor.editorKim, JH
dc.contributor.editorKarray, F
dc.contributor.editorJo, J
dc.contributor.editorSincak, P
dc.contributor.editorMyung, H
dc.date.accessioned2017-06-23T03:32:14Z
dc.date.available2017-06-23T03:32:14Z
dc.date.issued2017
dc.identifier.isbn978-3-319-31291-0
dc.identifier.issn2194-5357
dc.identifier.doi10.1007/978-3-319-31293-4_16
dc.identifier.urihttp://hdl.handle.net/10072/340775
dc.description.abstractWe 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).
dc.description.peerreviewedYes
dc.languageEnglish
dc.publisherSpringer
dc.publisher.placeSwitzerland
dc.relation.ispartofconferencename4th International Conference on Robot Intelligence Technology and Applications (RiTA)
dc.relation.ispartofconferencetitleROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 4
dc.relation.ispartofdatefrom2015-12-14
dc.relation.ispartofdateto2015-12-16
dc.relation.ispartoflocationBucheon, SOUTH KOREA
dc.relation.ispartofpagefrom195
dc.relation.ispartofpagefrom17 pages
dc.relation.ispartofpageto211
dc.relation.ispartofpageto17 pages
dc.relation.ispartofvolume447
dc.subject.fieldofresearchInformation and Computing Sciences not elsewhere classified
dc.subject.fieldofresearchcode089999
dc.titleFast MAV control by control/status OO-messages on shared-memory middleware
dc.typeConference output
dc.type.descriptionE1 - Conferences
dc.type.codeE - Conference Publications
gro.facultyGriffith Sciences, School of Information and Communication Technology
gro.hasfulltextNo Full Text
gro.griffith.authorHexel, Rene
gro.griffith.authorEstivill-Castro, Vladimir
gro.griffith.authorLusty, Carl B.
gro.griffith.authorJoukoff, Dimitri


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    Contains papers delivered by Griffith authors at national and international conferences.

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