Updated 11 Aug 2022
MAT-Fly is a numerical simulation platform for multi-rotor aircraft characterized by the ease of use and control development. The platform is based on MATLAB and the MathWorks Virtual Reality (VR) Toolbox that work together to simulate the behavior of a drone in a 3D environment while tracking a car that moves along a non trivial path.
The VR toolbox has been chosen due to the familiarity that students have with MATLAB and because it allows to move the attention to the classifier, the tracker, the reference generator and the trajectory tracking control thanks to its simple structure. The overall architecture is quite modular so that each block can be easily replaced with others by simplifying the development phase and by allowing to add even more functionalities.
The code is released under Apache license, thus making it available for scientific and educational activities.
The platform has been developed using the 2015b release of MATLAB but it is compatible with any other successive MATLAB release. The MathWorks Computer Vision System Toolbox is needed for running the Simulink schemes and Matlab scripts.
If you are using the simulator within the research for your publication, please take a look at the Publications page of the GitHub repository.
This work was supported in part by the ECSEL Joint Undertaking Research and Innovation Program COMP4DRONES under grant 826610, and in part by the European Union's Horizon 2020 Research and Innovation Program AERIAL-CORE under grant 871479.
Giuseppe Silano (2023). MAT-Fly (https://github.com/gsilano/MAT-Fly), GitHub. Retrieved .
Giuseppe Silano and Luigi Iannelli. An educational simulation platform for GPS-denied unmanned Aerial Vehicles aimed to the detection and tracking of moving objects. 2016 IEEE Conference on Control Applications (CCA), Buenos Aires, Argentina, September 2016, pp. 1018–1023, ISBN: 978-1-5090-0755-4, DOI: 10.1109/CCA.2016.7587947, URL: http://dx.doi.org/10.1109/CCA.2016.7587947.
Giuseppe Silano and Luigi Iannelli. An educational simulation platform for Unmanned Aerial Vehicles aimed to detect and track moving objects. Automatica.it 2017, national meeting held by S.I.D.R.A., Milan, Italy, September 2017, Poster (Interactive session). URL: https://giuseppesilano.net/publications/sidra17.pdf, DOI: 10.13140/RG.2.2.14878.43849
Giuseppe Silano and Luigi Iannelli. “MAT-Fly: an educational platform for simulating Unmanned Aerial Vehicles aimed to detect and track moving objects”. IEEE Access, 2021, vol. 9, pp. 39333–39343, DOI: 10.1109/ACCESS.2021.3064758, URL: https://giuseppesilano.net/publications/MAT-Fly.pdf.
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