Software-in-the-loop Simulation of Multi-robot Cooperation Over Wireless Networks25 Using Raytracing-based Propagation Models

Abstract

This paper introduces an integrated simulation framework designed to advance the research and development of cooperative multi-robot systems. In contrast to the co-simulation approaches dominant in the state of the art, an architecture combining co-modelling and co-simulation approaches is employed. It allows the synergistic combination of physics-based models, wireless network simulations, and virtual machine environments to facilitate comprehensive software-in-the-loop simulation of complex system behaviors. The reference implementation of this architecture is applied to an industrial setting, simulating multiple Autonomous Transport Vehicles (ATVs) in a factory including raytracing-based lidar sensors and path loss models for network simulation of wireless networks.

Keywords

• simulation
• multi-robot systems
• wireless networks
• software-in-the-loop
• autonomous transport vehicles.