A new SysML Model for UAV Swarm Modeling: UavSwarmML

Aloui, Khalil; Hammadi, Moncef; Guizani, Amir; Haddar, Mohamed; Soriano, Thierry

doi:10.1109/syscon53536.2022.9773922

Cited by 13 publications

(8 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Actions allow a client to cancel the request before it is completed, track the progress of a request and obtain the final result. 43 The swarm developer can use the new diagram shown in Figure 8 to describe the mission of the swarm and, with this representation, implementation on ROS will be easier later. In this diagram, we choose the ellipse shape to represent the node and the rectangle shape to represent the topic.…”

Section: Phase 1: Modeling Using Mbse Methodsmentioning

confidence: 99%

An integrated Design Methodology for Swarm Robotics using Model-Based Systems Engineering and Robot Operating System

Aloui,

Guizani,

Hammadi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

In swarm robotics, robots solve problems using collective behaviors similar to those observed in natural systems, such as birds, bees or fish. They determine their collective behavior through several simple interactions. However, the behavior of swarms emerging from local interactions remains difficult to predict. When trying to design swarm robotic systems for real applications, researchers are confronted with a wide range of software and hardware challenges in the different phases of the design process; problems related to the modeling of swarm systems, related to simulation, related to implementation on software and even on real systems, etc. Despite the increasing popularity of swarm robotics, designing effective and scalable swarm systems remains a challenging task due to the complex interactions between the individual robots and the environment. Therefore, there is a need for a systematic and comprehensive methodology that can guide designers in developing swarm robotics systems that are efficient, reliable, and adaptable to different scenarios. Our main contribution is to propose a new integrated methodology for the development of swarm robot systems. This methodology is based on modeling with Model-Based Systems Engineering method (MBSE) to specify the requirements and the collective behaviors of the swarms, then on the verification of the developed models and finally on the validation of the swarm system by physical prototyping with real robots. Our contribution also focuses on the development of a new SysML profile using the Domain Specific Language (DSL) that we call SwarmML to customize the functional and structural modeling of a swarm system (properties and attributes of the swarm). Two case studies are applied to validate our methodology; a case study of an aggregation of a swarm of robots and a case study of a collaborative simultaneous localization and mapping application (C-SLAM) performed by a swarm of Turtlebots. The novelty of this proposed methodology is the combination of SysML and Robot Operating System (ROS) to address the management of traceability between the different levels of swarm system design, in order to achieve functional, physical and software integration.

show abstract

Section: Phase 1: Modeling Using Mbse Methodsmentioning

confidence: 99%

An integrated Design Methodology for Swarm Robotics using Model-Based Systems Engineering and Robot Operating System

Aloui,

Guizani,

Hammadi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

show abstract

“…It plays an important role for the tracking and localization process, helping in eliminating drift errors for camera poses attached to the robot ( Sheng et al, 2019 ; Hsiao et al, 2017 ). Subsequently, this keyframe is sent for further processing in the next stage, where it will be shaped into a preliminary map, a crucial part for the third stage of the workflow ( Aloui et al, 2022 ; Zhang et al, 2020 ).…”

Section: Visual Slam Paradigmmentioning

confidence: 99%

“…Recently, visual SLAM has changed a lot and made a big impact on robotics and computer vision ( Khoyani and Amini, 2023 ). Along this journey, different V-SLAM methods have been created to tackle specific challenges in robot navigation, mapping, and understanding the surroundings ( Aloui et al, 2022 ; Sun et al, 2017 ). To verify and compare these V-SLAM methods, important datasets have been created which played a crucial role in the field ( Pal et al, 2022 ; Tian et al, 2023a ).…”

Section: Visual Slam Evolution and Datasetsmentioning

confidence: 99%

A review of visual SLAM for robotics: evolution, properties, and future applications

Al-Tawil,

Hempel,

Abdelrahman

et al. 2024

Front. Robot. AI

View full text Add to dashboard Cite

Visual simultaneous localization and mapping (V-SLAM) plays a crucial role in the field of robotic systems, especially for interactive and collaborative mobile robots. The growing reliance on robotics has increased complexity in task execution in real-world applications. Consequently, several types of V-SLAM methods have been revealed to facilitate and streamline the functions of robots. This work aims to showcase the latest V-SLAM methodologies, offering clear selection criteria for researchers and developers to choose the right approach for their robotic applications. It chronologically presents the evolution of SLAM methods, highlighting key principles and providing comparative analyses between them. The paper focuses on the integration of the robotic ecosystem with a robot operating system (ROS) as Middleware, explores essential V-SLAM benchmark datasets, and presents demonstrative figures for each method’s workflow.

show abstract

“…Table 2 provides the illustrative validation elements of four design requirements Turtlebot 3 burger. 35 The table shows the requirements, the modeling information with SysML/ROS2ML, the simulation carried out in the ROS2 environment and the implementation on the real robot.…”

Section: Phase 3: Implementation Of the Physical Robotmentioning

confidence: 99%

A new SysML profile for autonomous mobile robots development: ROS2ML

Guizani

Aloui

Hammadi

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

For a long time, designing complex systems has been a difficult task for designers. Traditionally, it requires physical meetings between the different stakeholders of the system, which is more time-consuming and costly. However, this method faces difficulties when dealing with large and complex design problems. Today, researchers have started to propose several approaches and methodologies to simplify the design of complex systems such as autonomous mobile robots (AMRs). But they have been confronted with hardware and software design challenges that provoke further research in this robotic field and suggest possible solutions. In this work, we present a new integrated design approach for AMRs based on a new SysML profile (Systems Modeling Language) developed using DSL (Domain Specific Language) to include Robot Operating System (ROS2) objects and attributes. We called the new SysML profile ROS2ML. Indeed, the standard SysML diagrams have a general purpose use, they are applied to any system without specifying the way to simulate, integrate code and implement a robot on a ROS2 platform. Therefore, the new SysML profile is developed specifically for ROS2 concepts to facilitate the robotic systems integration. This new SysML profile (ROS2ML) guides the AMR developers through the design process up to the simulation of the robotic system on the ROS2 platform and the final implementation of the system. A case study was used to illustrate and confirm the effectiveness of the proposed methodology for the design of an AMR. The case study shows that the new ROS2ML profile allows robot designers, with different skills and objectives, to work together on several views, with a convention adapted to ROS2 specialists, while maintaining consistency between all views, with the aim of achieving functional, physical and software integration.

show abstract

A new SysML Model for UAV Swarm Modeling: UavSwarmML

Cited by 13 publications

References 15 publications

An integrated Design Methodology for Swarm Robotics using Model-Based Systems Engineering and Robot Operating System

An integrated Design Methodology for Swarm Robotics using Model-Based Systems Engineering and Robot Operating System

A review of visual SLAM for robotics: evolution, properties, and future applications

A new SysML profile for autonomous mobile robots development: ROS2ML

Contact Info

Product

Resources

About