CORNET 2.0: A Co-Simulation Middleware for Robot Networks

Acharya, S and Amrutur, B and Bharathesa, M and Simmhan, Y (2022) CORNET 2.0: A Co-Simulation Middleware for Robot Networks. In: 14th International Conference on COMmunication Systems and NETworkS, COMSNETS 2022, 4-8 Jan 2022, Bangalore, pp. 684-690.

PDF COMSNETS _2022.pdf - Published Version Restricted to Registered users only Download (2MB) | Request a copy

Abstract

We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is necessary to co-design the multi-robots' autonomy logic and the communication protocols. The proposed framework extends existing tools to simulate the robot's autonomy and network-related aspects. We have used Gazebo with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the network simulator to capture the cyber-physical systems properties of the multi-robot system. This framework addresses the need to seamlessly integrate the two simulation environments by synchronizing mobility and time, allowing for easy migration of the algorithms to real platforms. The framework supports container-based virtualization and extends a generic robotic framework by decoupling the data plane and control plane. © 2022 IEEE.

Item Type:	Conference Paper
Publication:	2022 14th International Conference on COMmunication Systems and NETworkS, COMSNETS 2022
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Computer circuits; Cyber Physical System; Embedded systems; Industrial robots; Machine design; Middleware; Robot learning; Robotics; Wi-Fi; Wireless local area networks (WLAN), Cosimulation; Cybe-physical systems; Cyber-physical systems; Gazebo; Mininet-wifi; Multi-robot systems; Robot networks; ROS; ROS2; Wifi, Multipurpose robots
Department/Centre:	Division of Interdisciplinary Sciences > Computational and Data Sciences
Date Deposited:	16 Mar 2022 06:11
Last Modified:	16 Mar 2022 06:11
URI:	http://eprints.iisc.ac.in/id/eprint/71501

Actions (login required)

View Item