全驱动无人机模拟器
A Simulator for Fully-Actuated UAVs
AI总结：
本文介绍ARCAD模拟器，用于解决全驱动无人机仿真中的挑战，支持多种控制器测试、物理交互及实际部署，代码开源。
摘要：
本研讨会论文介绍了我们在研究中模拟全驱动无人机（UAVs）时遇到的挑战，以及我们为克服这些挑战而开发的解决方案。我们描述了ARCAD模拟器，它帮助我们快速实现和测试从混合力-位置控制器到先进的模型预测路径积分等不同控制器，并使我们能够分析不同全驱动无人机的设计和行为。我们使用该模拟器实现了全驱动无人机机队在不同应用中的实际部署。该模拟器进一步扩展以支持无人机与其环境的物理交互，并允许更多无人机设计，如混合垂直起降（VTOL）无人机。模拟器的代码可从 https://github.com/keipour/aircraft-simulator-matlab 获取。
英文摘要：
This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has helped us rapidly implement and test different controllers ranging from Hybrid Force-Position Controllers to advanced Model Predictive Path Integrals and has allowed us to analyze the design and behavior of different fully-actuated UAVs. We used the simulator to enable real-world deployments of our fully-actuated UAV fleet for different applications. The simulator is further extended to support the physical interaction of UAVs with their environment and allow more UAV designs, such as hybrid VTOLs. The code for the simulator can be accessed from https://github.com/keipour/aircraft-simulator-matlab.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
