CORNET 2.0: A Co-Simulation Middleware for Robot Networks
CORNET 2.0: A Co-Simulation Middleware for Robot Networks
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CORNET 2.0：机器人网络联合仿真中间件
DOI：
10.1109/comsnets53615.2022.9668501
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Yogesh L. Simmhan
中科院分区：
文献类型：
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作者：
Srikrishna Acharya;B. Amrutur;M. Bharatheesha;Yogesh L. Simmhan
我们提出了一个多机器人系统应用的网络协同仿真框架。我们需要一个模拟框架，捕捉物理交互和通信方面有效地设计这样复杂的系统。这对多机器人的自治逻辑和通信协议的协同设计是必要的。该框架扩展了现有的工具，以模拟机器人的自主性和网络相关的方面。我们使用Gazebo和ROS/ROS 2来开发机器人的自治逻辑，并使用mininet-WiFi作为网络模拟器来捕获多机器人系统的网络物理系统属性。该框架解决了需要无缝集成的两个仿真环境同步的移动性和时间，允许轻松迁移的算法到真实的平台。该框架支持基于容器的虚拟化，并通过解耦数据平面和控制平面来扩展通用机器人框架。
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.