%0 Journal Article
	%A Pierre Kancir and  Jean-Philippe Diguet and  Marc Sevaux
	%D 2019
	%J International Journal of Computer and Systems Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 148, 2019
	%T Development of Tools for Multi Vehicles Simulation with Robot Operating System and ArduPilot
	%U https://publications.waset.org/pdf/10010266
	%V 148
	%X One of the main difficulties in developing multi-robot
systems (MRS) is related to the simulation and testing tools available.
Indeed, if the differences between simulations and real robots are
too significant, the transition from the simulation to the robot
won’t be possible without another long development phase and
won’t permit to validate the simulation. Moreover, the testing of
different algorithmic solutions or modifications of robots requires
a strong knowledge of current tools and a significant development
time. Therefore, the availability of tools for MRS, mainly with
flying drones, is crucial to enable the industrial emergence of these
systems. This research aims to present the most commonly used
tools for MRS simulations and their main shortcomings and presents
complementary tools to improve the productivity of designers in the
development of multi-vehicle solutions focused on a fast learning
curve and rapid transition from simulations to real usage. The
proposed contributions are based on existing open source tools as
Gazebo simulator combined with ROS (Robot Operating System) and
the open-source multi-platform autopilot ArduPilot to bring them to
a broad audience.
	%P 211 - 217