The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B2-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B2-2020, 933–939, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B2-2020-933-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B2-2020, 933–939, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B2-2020-933-2020

  12 Aug 2020

12 Aug 2020

PORTING ARDUPILOT TO ESP32: TOWARDS A UNIVERSAL OPEN-SOURCE ARCHITECTURE FOR AGILE AND EASILY REPLICABLE MULTI-DOMAINS MAPPING ROBOTS

L. Beaudoin1,2, L. Avanthey1,2, and C. Villard1 L. Beaudoin et al.
  • 1SEAL Research Team (Sense, Explore, Analyse and Learn), ÉPITA, 94270 Le Kremlin Bicêtre, France
  • 2Équipe Acquisition et Traitement, IGN, 94165 Saint-Mandé, France

Keywords: Ardupilot, ESP32, Multi-domains exploration robots, UAV, UGV, USV, UUV, Close-range remote sensing

Abstract. In this article, we are interested in the implementation of an open-source low-level architecture (critical system) adapted to agile and easily replicable close-range remote sensing robots operating in multiple evolution domains. After reviewing the existing autopilots responding to these needs, we discuss the available hardware solutions and their limits. Then, we propose an original solution (software and hardware) that we developed to obtain a universal low-level architecture for all our exploration robots, whatever their environment of evolution, and the steps needed to make it run on our chosen family of micro-controllers: the ESP32. Finally, we present the operational results obtained on our different platforms (land, surface, submarine and air), their limits and the envisaged perspectives.