Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic simulations on the cloud. We have built upon our previous work and have addressed some of the educational and research challenges associated with the prior work. The critical contributions of the paper to the robotics and automation community are threefold: First, OpenUAV saves students and researchers from tedious and complicated software setups by providing web-browser-based Linux desktop sessions with standard robotics software like Gazebo, ROS, and flight autonomy stack. Second, a method for saving an individual's research work with its dependencies for the work's future reproducibility. Third, the platform provides a mechanism to support photorealistic robotics simulations by combining Unity game engine-based camera rendering and Gazebo physics. The paper addresses a research need for photorealistic simulations and describes a methodology for creating a photorealistic aquatic simulation. We also present the various academic and research use-cases of this platform to improve robotics education and research, especially during times like the COVID-19 pandemic, when virtual collaboration is necessary.
翻译:模拟在机器人研究和教育中发挥着关键作用。 本文展示了 OpenUAV 测试床( OpenUAV 测试床)、 一个开放源码、易于使用、基于网络的、可复制的软件系统,使学生和研究人员能够在云层上进行机器人模拟。 我们以先前的工作为基础,并解决了与先前工作有关的一些教育和研究挑战。 本文对机器人和自动化界的重要贡献有三重: 首先, OpenUAV 将基于游戏引擎的摄影和Gazebo物理学结合起来,使学生和研究人员免于冗长和复杂的软件设置。 本文通过提供基于网络的浏览器Linux桌面会议,提供Gazebo、ROS和飞行自主堆等标准机器人软件。 其次, 一种保存个人研究工作的方法,及其对未来工作的再生依赖性。 第三,该平台提供了一种机制,通过将Unity游戏机床和Gazebo物理学结合,支持摄影现实学模拟研究的需要,并描述创建摄影现实水生模拟的方法。 我们还展示了各种学术和研究- 19 实验时, 改进了这种研究空间空间研究的时代, 也像学- 改进了这种研究- 和虚拟空间- 空间- 实验平台, 改进了这种研究- 。