2021/01/25 by Miguel Calvo-Fullana, Calvo-Fullana, Miguel, Daniel Mox +9
Computer Science · Decision Sciences · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Opportunistic and Delay-Tolerant Networks #Robotics (cs.RO) #Robotics and Automated Systems #Simulation Techniques and Applications
paper · pdf · doi:10.48550/arxiv.2101.10113
openalex publication_date 2021/01/25 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Multi-agent systems play an important role in modern robotics. Due to the\nnature of these systems, coordination among agents via communication is\nfrequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or\nPerception-Action loops closed over a communication channel, are a critical\ncomponent of multi-robot systems. However, we lack appropriate tools for\nsimulating PAC loops. To that end, in this paper, we introduce ROS-NetSim, a\nROS package that acts as an interface between robotic and network simulators.\nWith ROS-NetSim, we can attain high-fidelity representations of both robotic\nand network interactions by accurately simulating the PAC loop. Our proposed\napproach is lightweight, modular and adaptive. Furthermore, it can be used with\nmany available network and physics simulators by making use of our proposed\ninterface. In summary, ROS-NetSim is (i) Transparent to the ROS target\napplication, (ii) Agnostic to the specific network and physics simulator being\nused, and (iii) Tunable in fidelity and complexity. As part of our\ncontribution, we have made available an open-source implementation of\nROS-NetSim to the community.\n