CORNET: A Co-Simulation Middleware for Robot Networks

Acharya, S and Bharadwaj, A and Simmhan, Y and Gopalan, A and Parag, P and Tyagi, H (2020) CORNET: A Co-Simulation Middleware for Robot Networks. In: 2020 International Conference on COMmunication Systems and NETworkS, 7-11 Jan 2020, Bengaluru;, pp. 245-251.

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Abstract

This paper describes CORNET, a co-simulation middleware for applications involving multi-robot systems like a network of Unmanned Aerial Vehicle (UAV) systems. Design of such systems requires knowledge of the flight dynamics of UAVs and the communication links connecting UAVs with each other or with the ground control station. Besides, UAV networks are dynamic and distinctive from other ad-hoc networks and require protocols that can adapt to high-mobility, dynamic topology and changing link quality in power constrained resource platforms. Therefore, it is necessary to co-design the UAV path planning algorithms and the communication protocols. The proposed co-simulation framework integrates existing tools to simulate flight dynamics and network related aspects. Gazebo with robot operating system (ROS) is used as a physical system UAV simulator and NS-3 is used as a network simulator, to jointly capture the cyber-physical system (CPS) aspects of the multi-UAV systems. A particular aspect we address is on synchronizing time and position across the two simulation environments, and we provide APIs to allow easy migration of the algorithms to real platforms. © 2020 IEEE.

Item Type:	Conference Paper
Publication:	2020 International Conference on COMmunication Systems and NETworkS, COMSNETS 2020
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright of this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Ad hoc networks; Antennas; Cyber Physical System; Embedded systems; Flight dynamics; Flight simulators; Middleware; Motion planning; Multipurpose robots; Rock mechanics; Simulation platform; Unmanned aerial vehicles (UAV); Wi-Fi, COSIM; Cyber-physical systems (CPS); Gazebo; Ground control stations; Path-planning algorithm; Robot operating systems (ROS); Simulation environment; Unmanned aerial vehicle systems, Flight control systems
Department/Centre:	Division of Electrical Sciences > Electrical Communication Engineering Division of Interdisciplinary Sciences > Computational and Data Sciences Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	06 Apr 2021 09:18
Last Modified:	06 Apr 2021 09:18
URI:	http://eprints.iisc.ac.in/id/eprint/65075

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