ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators
ROS-NetSim: A Framework for the Integration of Robotic and Network Simulators
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DOI：
10.1109/lra.2021.3056347
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发表时间：
2021-04-01
影响因子：
5.2
通讯作者：
Ribeiro, Alejandro
中科院分区：
文献类型：
--
作者：
Calvo-Fullana, Miguel;Mox, Daniel;Ribeiro, Alejandro
多智能体系统在现代机器人技术中扮演着重要的角色。由于这些系统的性质，代理之间通过通信的协调是经常必要的。事实上，感知-动作-通信（PAC）回路，或通过通信信道闭合的感知-动作回路，是多机器人系统的关键组成部分。然而，我们缺乏适当的工具来模拟PAC循环。为此，在这封信中，我们介绍了ROS-NetSim，这是一个ROS包，它充当机器人和网络模拟器之间的接口。使用ROS-NetSim，我们可以通过精确模拟PAC循环来获得机器人和网络交互的高保真表示。我们提出的方法是轻量级的，模块化和自适应。此外，它可以使用许多可用的网络和物理模拟器，通过使用我们提出的接口。总而言之，ROS-NetSim（i）对ROS目标应用程序是透明的，（ii）对所使用的特定网络和物理模拟器是不可知的，（iii）在保真度和复杂性方面是可调的。作为我们贡献的一部分，我们向社区提供了ROS-NetSim的开源实现。
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.