Low-cost, open-access sensorized aerial robot multirotor testing operational platform

Mathematical modeling and simulation of aerial robotic systems (ARS) constitute a highly relevant field in domains such as smart cities and Industry 4.0. In this context, validating algorithm performance under real-world conditions remains essential. However, real-world testing presents several challenges, including the isolation of scenario-specific effects on algorithm performance. In this paper, we introduce the Low-Cost, Open-Access Sensorized Aerial Robot Multirotor Testing Operational Platform (ARMTOP). The ARMTOP features a gyroscope mounted on a fixed frame, allowing precise testing of pitch, yaw, and roll angles. Additionally, it integrates a Wi-Fi-based communication module for both sending commands and receiving onboard IMU data. The platform also includes a Graphical User Interface (GUI) for real-time visualization of IMU data, with the capability to export received data for offline analysis (e.g., feature extraction). The components of ARMTOP are developed using open-access frameworks, enhancing the platform's replicability for further customization and development.