A framework for realistic simulation of networked multi-robot systems

Abstract

Abstract-Networked robotics is an area that integrates multi-robot and network technology. The characteristics and the reliability of the communication environment play a fundamental role shaping and affecting behavior and performance of a mobile multi-robot system. In this context, two basic questions arise: how much the overall performance is affected and how can we investigate this influence? Addressing these two questions, in this paper we present the architecture of an integrated simulation environment that allows for realistic simulation of networked robotic systems. The proposed framework integrates two simulators: a network simulator and a multi-robot simulator. We present two implementations based on the ARGoS simulator for the robotic side, and with ns-2 and ns-3 employed as network simulators. We evaluate the proposed tools, both in isolation and integration, and show that they are able to efficiently simulate systems consisting of hundreds of robots. Moreover, we use the proposed framework to demonstrate the effects of communication on the performance of a mobile multi-robot system performing distributed coordination and task assignment. We compare realistic network simulation with simplified communication models and we study the resulting behavior and performance of the robotic system.

Modeling mobility for networked mobile cyber-physical systems

“…However, it is expected that co-simulation will be demanding for processing power. If we consider network simulation alone, a simulator such as ns-3 shows competent performance compared to other simulators as shown in [12] which offers a performance evaluation of ARGoS-NS3. Therefore, choosing efficient simulators is likely to make the integrated simulator work better.…”

“…• ARGoS-NS3 [12]: A simulator for multi-robot systems developed by IDalle Molle Institute of Artificial Intelligence (IDSIA). The goal is to make the simulation of multi-robotic systems more realistic by adding the communication aspect of the simulation, which is accomplished by incorporating a network simulator.…”

Efficient Simulation Environment of Wireless Radio Communications in MEMS Modular Robots

“…More recently, there have been more generic simulators proposed like Player/Stage [17], gazebo [18], USSR [19] or MORSE [20] but network access is not sufficiently detailed, as focus is made on the robots themselves. The most interesting initiative is ARGoS [21] which includes its own network simulator or that could be plugged to NS2 or NS3 [22]. ARGoS is fast and can simulate up to 100,000 of robots.…”