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Authors: Markus Sauer 1 ; Florian Zeiger 1 and Klaus Schilling 2

Affiliations: 1 Zentrum für Telematik e.V, Germany ; 2 University of Würzburg, Germany

Keyword(s): Networked mobile robots, Communication, Simulation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Network Robotics ; Robotics and Automation

Abstract: Simulations are a very powerful tool in robotics to design and verify new algorithms before doing timeconsuming tests with real hardware. Nowadays, a lot of very realistic simulation environments are available to simulate robot kinematics and dynamics and any type of multi-robot systems in a virtual physical environment. Unfortunately, the communication in these simulations is often only considered in a very simplified matter, although the characteristics of a real communication link are very complex and might have a strong influence on the performance of a multi-robot algorithm. This contribution proposes a setup to perform communication hardware in the loop tests with the 3D simulation environment USARSim. For this setup any communication device which can be connected to a PC architecture like WLAN, UMTS or Bluetooth can be used. A cooperative collision avoidance algorithm is presented as an example which is realized with this setup, while real hardware is used for the communicatio n link between the robots. Finally, the limitations are presented. (More)

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Paper citation in several formats:
Sauer, M.; Zeiger, F. and Schilling, K. (2009). A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS. In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-674-000-9; ISSN 2184-2809, SciTePress, pages 312-317. DOI: 10.5220/0002218703120317

@conference{icinco09,
author={Markus Sauer. and Florian Zeiger. and Klaus Schilling.},
title={A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2009},
pages={312-317},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002218703120317},
isbn={978-989-674-000-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS
SN - 978-989-674-000-9
IS - 2184-2809
AU - Sauer, M.
AU - Zeiger, F.
AU - Schilling, K.
PY - 2009
SP - 312
EP - 317
DO - 10.5220/0002218703120317
PB - SciTePress