Method for Design and Performance Evaluation of Ad Hoc Networked Mobile Robotic Systems using OMNET++
Ramos, D. Ramos
; Moreno, U. F.
Method for Design and Performance Evaluation of Ad Hoc Networked Mobile Robotic Systems using OMNET++, Proc IFAC Symp. on Telematics Applications, Porto Alegre, Brazil, Vol. 00, pp. 00 - 00, November, 2016.
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Using a team of mobile robots connected through ad hoc networks is becoming increasingly attractive for a myriad of applications, including search, rescue and surveillance. In this paper, we present a method for the design and performance evaluation of complex wireless networked control systems, focusing on cooperative control strategy in robotic tasks. We describe a simulation architecture and specific developments that are required to simulate cooperative robotic systems over a mobile ad hoc network (MANET), regarding individual control, cooperative control, network model and topology control aspects. We assess the capabilities of the proposed method using OMNET++/INET simulator and a rendez-vous task with topology control over a MANET. The rendez-vous task is implemented as a consensus problem and is solved by receding horizon control. The resulting simulation shows that not only it is possible to simulate this complex set of algorithms on OMNeT++, but if an organized simulation process is followed, it allows better planning of experimental cases to achieve more meaningful results.