Integrated Robotic and Network Simulation Method
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 mor...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/20/4585 |
| _version_ | 1797999618998403072 |
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| author | Daniel Ramos Luis Almeida Ubirajara Moreno |
| author_facet | Daniel Ramos Luis Almeida Ubirajara Moreno |
| author_sort | Daniel Ramos |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T11:07:34Z |
| format | Article |
| id | doaj.art-8a37e942299f4ca48c97f779c350d9dc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T11:07:34Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8a37e942299f4ca48c97f779c350d9dc2022-12-22T04:28:15ZengMDPI AGSensors1424-82202019-10-011920458510.3390/s19204585s19204585Integrated Robotic and Network Simulation MethodDaniel Ramos0Luis Almeida1Ubirajara Moreno2Faculty of Electric Engineering, Federal University of Uberlandia, 38701-002 Patos de Minas, Minas Gerais, BrazilCISTER, Instituto de Telecomunicações, FEUP-University of Porto, 4200-465 Porto, PortugalAutomation and Systems Department, Federal University of Santa Catarina, 88040-900 Florianopolis, Santa Catarina, BrazilThe 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.https://www.mdpi.com/1424-8220/19/20/4585networked robotic systemsrobot cooperationcommunication network simulationsimulation frameworksimulation method |
| spellingShingle | Daniel Ramos Luis Almeida Ubirajara Moreno Integrated Robotic and Network Simulation Method Sensors networked robotic systems robot cooperation communication network simulation simulation framework simulation method |
| title | Integrated Robotic and Network Simulation Method |
| title_full | Integrated Robotic and Network Simulation Method |
| title_fullStr | Integrated Robotic and Network Simulation Method |
| title_full_unstemmed | Integrated Robotic and Network Simulation Method |
| title_short | Integrated Robotic and Network Simulation Method |
| title_sort | integrated robotic and network simulation method |
| topic | networked robotic systems robot cooperation communication network simulation simulation framework simulation method |
| url | https://www.mdpi.com/1424-8220/19/20/4585 |
| work_keys_str_mv | AT danielramos integratedroboticandnetworksimulationmethod AT luisalmeida integratedroboticandnetworksimulationmethod AT ubirajaramoreno integratedroboticandnetworksimulationmethod |