Python Library for simulating unManNed vehiclEs(PLANE) is an open source software module, written in Python, that focuses on Unmanned Aerial Vehicles (UAVs), on their movements and on the mechanics of flight, thus devoting particular attention to the equations that describe drones' movement. In the context of the Internet of Drones (IoD), the module can be widely used for the study of the mutual control of position coordination in scenarios in which drones may find obstacles, as it happens in densely populated urban scenarios. Emphasis is put on ease of use, performance evaluation, documentation, and Application Programming Interface (API) consistency. The software tool has minimal dependencies and is distributed under MIT License. Source code, binaries, and documentation can be downloaded from GitHub.
@cite_16 represents a very interesting model-based test for the well-known Ardupilot platform http: ardupilot.org . Still, the contribution is not a simulator, as it builds a model that addresses core functionalities of autonomous flight in fail-safe conditions. The proposed control loop improves the existing solution leveraging efficient operations and solving some bugs. The proposal is of relevance since it contributes to the development of the platform.
@cite_16
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Key to the operation of robot drones is the autopilot software that realizes the low-level control. The correctness of autopilot implementations is currently mainly verified based on simulations. These may overlook the timing aspects of control loop executions, which are however fundamental to dependable operation. We report on our experience in applying model-based real-time testing to Ardupilot, a widely adopted autopilot. We describe our approach at deriving a model of Ardupilot's core functionality and at reducing the model to enable practical testing. Our work reveals that Ardupilot may fail in meeting the time constraints associated to critical functionality, such as enabling fail-safe operation. Through controlled experiments, we demonstrate the real-world occurrence of such erroneous executions.