Controls and Control Theory Commons^™

Ros Based High Performance Control Architecture For An Aerial Robotic Testbed, Christoph Hintz

Electrical and Computer Engineering ETDs

The purpose of this thesis is to show the development of an aerial testbed based on the Robot Operating System (ROS). Such a testbed provides flexibility to control heterogenous vehicles, since the robots are able to simply communication with each other on the High Level (HL) control side. ROS runs on an embedded computer on-board each quadrotor. This eliminates the need of a Ground Base Station, since the complete HL control runs on-board the Unmanned Aerial Vehicle (UAV).

The architecture of the system is explained throughout the thesis with detailed explanations of the specific hardware and software used for the …