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Publication
Integrated Robotic and Network Simulation Method
Advisor(s)
Abstract(s)
The increasing use of mobile cooperative robots in a variety of applications also implies an
increasing research effort on cooperative strategies solutions, typically involving communications
and control. For such research, simulation is a powerful tool to quickly test algorithms, allowing
to do more exhaustive tests before implementation in a real application. However, the transition
from an initial simulation environment to a real application may imply substantial rework if early
implementation results do not match the ones obtained by simulation, meaning the simulation was not
accurate enough. One way to improve accuracy is to incorporate network and control strategies in the
same simulation and to use a systematic procedure to assess how different techniques perform. In this
paper, we propose a set of procedures called Integrated Robotic and Network Simulation Method
(IRoNS Method), which guide developers in building a simulation study for cooperative robots and
communication networks applications. We exemplify the use of the improved methodology in a
case-study of cooperative control comparison with and without message losses. This case is simulated
with the OMNET++/INET framework, using a group of robots in a rendezvous task with topology
control. The methodology led to more realistic simulations while improving the results presentation
and analysis.
Description
Keywords
Networked robotic systems Robot cooperation Communication network simulation Simulation framework Simulation method