期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 1120-1127出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3056347
关键词
Physics; Robot kinematics; Picture archiving and communication systems; Synchronization; Robot sensing systems; Communication channels; Wireless sensor networks; Multi-robot systems; networked robots; methods and tools for robot system design; software architecture for robotic and automation
类别
资金
- ARL [DCIST CRA W911NF-17-2-0181]
- Intel Science and Technology Center for Wireless Autonomous Systems
Multi-agent systems are crucial in modern robotics, often requiring coordination among agents through communication. ROS-NetSim serves as an interface between robotic and network simulators, offering a lightweight, modular, and adaptive approach to accurately simulate interactions and loops, regardless of the specific network or physics simulator being used. By providing transparency, independency, and tunability, ROS-NetSim enables high-fidelity representations of robotic and network interactions.
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or Perception-Action loops closed over a communication channel, are a critical component of multi-robot systems. However, we lack appropriate tools for simulating PAC loops. To that end, in this letter, we introduce ROS-NetSim, a ROS package that acts as an interface between robotic and network simulators. With ROS-NetSim, we can attain high-fidelity representations of both robotic and network interactions by accurately simulating the PAC loop. Our proposed approach is lightweight, modular and adaptive. Furthermore, it can be used with many available network and physics simulators by making use of our proposed interface. In summary, ROS-NetSim is (i) Transparent to the ROS target application, (ii) Agnostic to the specific network and physics simulator being used, and (iii) Tunable in fidelity and complexity. As part of our contribution, we have made available an open-source implementation of ROS-NetSim to the community.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据