CORNET: A Co-Simulation Middleware for Robot Networks

Acharya, Srijan; Bharadwaj, Aprameya; Simmhan, Yogesh; Gopalan, Aditya; Parag, Parimal; Tyagi, Himanshu

doi:10.1109/comsnets48256.2020.9027459

Cited by 22 publications

(5 citation statements)

References 21 publications

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“…They integrate the interface with WINTERSim 4 and the Gazebo simulator. A recent emerging system like CORNET uses mininet-WiFi as a network simulator and Gazebo as a physical simulator [82].…”

Section: B Simulator and Middlewarementioning

confidence: 99%

Multi-Robot Systems and Cooperative Object Transport: Communications, Platforms, and Challenges

Lin

et al. 2023

IEEE Open J. Comput. Soc.

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Multi-robot systems gain considerable attention due to lower cost, better robustness, and higher scalability as compared with single-robot systems. Cooperative object transport, as a well-known use case of multi-robot systems, shows great potential in real-world applications. The design and implementation of a multi-robot system involve many technologies, specifically, communication, coordination, task allocation methods, experimental platforms, and simulators. However, most of recent multi-robot system studies focus on coordination and task allocation problems, with little focus on communications among multiple robots. In this review, we focus on the communication, validation platform, and simulator of multi-robot systems, and discuss one of the important applications, cooperative object transport. First, we study the multi-robot system fundamentals and comprehensively review the multi-robot system communication technologies. Then, the multi-robot system validating platform, testbed, simulator, and middleware used in academia and industry are investigated. Finally, we discuss recent advances in cooperative object transport, and challenges and possible future research directions for multi-robot systems.

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Section: B Simulator and Middlewarementioning

confidence: 99%

Multi-Robot Systems and Cooperative Object Transport: Communications, Platforms, and Challenges

Lin

et al. 2023

IEEE Open J. Comput. Soc.

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“…Furthermore, only packet delivery from UAV to GCS is supported and the simulation results cannot be accurate because of time delays occurred in the synchronization process where data packet is sequentially processed. Another co-simulation platform called CORNET has been built by introducing an opensource ROS to FlyNetSim [11]. In this platform, only the packets from UAV to GCS are available and the UAV simulation results also suffer from time delays during the synchronization process.…”

Section: Background and Related Workmentioning

confidence: 99%

“…In order to overcome the limitations of the conventional UAV simulation platform, co-simulation platforms have been suggested in these days [8][9][10][11]. In these simulation platforms, a synchronization scheme has been introduced to provide co-simulation in which UAV simulation and wireless network simulation are performed concurrently.…”

Section: Introductionmentioning

confidence: 99%

Advanced Co-Simulation Platform for UAV Simulations Under Virtual Wireless Network Environments

Cho

Kim

et al. 2022

IEEE Access

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In this paper, we propose an advanced co-simulation platform that performs the unmanned aerial vehicle (UAV) simulation and the wireless network simulation concurrently. As UAV-based applications become more advanced and complicated and the commands and data transmitted between UAV and ground control station significantly increase, it is vital to safely and robustly transmit the packets carrying commands and data in a wireless network environment. However, the conventional UAV simulation platforms do not take into account the wireless network conditions encountered in the real-world flight so they cannot sufficiently simulate packet transmission. To address this issue, co-simulation platforms have been developed to verify UAV-based applications under a virtual wireless network environment. However, they still cannot effectively support the co-simulation needed to develop the UAV-based applications. In this paper, we have derived a list of improvements to the conventional co-simulation platform based on analysis of the conventional ones. Based on these improvements, we have developed an advanced co-simulation platform consisting of a UAV simulation part, a wireless network simulation part, and an integration part. In this platform, a two-channel approach was introduced to parallelize the synchronization required for performing the UAV simulation and the wireless network simulation simultaneously. The experimental results carried out on three test scenarios demonstrate that the proposed platform accurately performs cosimulation by efficient interoperation of its three parts and by remarkable reduction of the processing time delay, and that it is extendible due to its modularized software architecture.

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“…ManiWare is dedicated to teamlevel abstraction and synchronization for manipulators to conduct teamwork operations among different arms [17]. CORNET integrates unmanned aerial vehicle physics and network simulators to realize a cyber-physical system of multi-agent drones [18].…”

Section: Middleware For Multi-agent and Cloud Roboticmentioning

confidence: 99%

REMS: Middleware for Robotics Education and Development

Tanaka¹,

Mehta²

2022

Preprint

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This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware abstraction and modularity, setting up environments and learning middleware-specific syntax and procedures are less viable in education. They can curb opportunities to understand robotics concepts, theories, and algorithms. Robotics is a field of integration; students and developers from various backgrounds will be involved in programming. Establishing Pythonic and object-oriented robotic framework in a natural way can enhance modular and abstracted programming for better readability, reusability, and simplicity, but also supports useful and practical skills generally in coding. REMS is to be a valuable robot educational medium not just as a tool and to be a platform from one robot to multi-agent across hardware, simulation, and analytical model implementations.

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CORNET: A Co-Simulation Middleware for Robot Networks

Cited by 22 publications

References 21 publications

Multi-Robot Systems and Cooperative Object Transport: Communications, Platforms, and Challenges

Multi-Robot Systems and Cooperative Object Transport: Communications, Platforms, and Challenges

Advanced Co-Simulation Platform for UAV Simulations Under Virtual Wireless Network Environments

REMS: Middleware for Robotics Education and Development

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