Research Article
A Simulation Environment for Autonomous Robot Swarms with Limited Communication Skills
@INPROCEEDINGS{10.1007/978-3-030-72795-6_17, author={Alexander Puzicha and Peter Buchholz}, title={A Simulation Environment for Autonomous Robot Swarms with Limited Communication Skills}, proceedings={Simulation Tools and Techniques. 12th EAI International Conference, SIMUtools 2020, Guiyang, China, August 28-29, 2020, Proceedings, Part II}, proceedings_a={SIMUTOOLS PART 2}, year={2021}, month={4}, keywords={Autonomous robots Model predictive control Real-time simulation Swarm behavior}, doi={10.1007/978-3-030-72795-6_17} }- Alexander Puzicha
Peter Buchholz
Year: 2021
A Simulation Environment for Autonomous Robot Swarms with Limited Communication Skills
SIMUTOOLS PART 2
Springer
DOI: 10.1007/978-3-030-72795-6_17
Abstract
We present a novel real-time simulation tool for modeling and analyzing a swarm of distributed autonomous mobile robots communicating over an unreliable and capacity restricted communication network. The robots are setup as ground vehicles and use C-PBP [8] as model predictive closed loop controller. This tool offers the ability to simulate rural as well as completely urban scenarios with static obstacles, dynamic obstacles with scripted movement, soil condition, noise floor, active jammers and static and dynamic obstacles for the links with adjustable damping. The goal of this simulation is the analysis of swarm behavior of robots for given missions such as terrain exploration, convoy escorting or creation of a mobile ad hoc network in disaster areas under realistic environmental conditions.
