Research Article
Real-time emulation of networked robot systems
@INPROCEEDINGS{10.4108/ICST.SIMUTOOLS2008.2946, author={Razvan Beuran and Junya Nakata and Takashi Okada and Yasuo Tan and Yoich Shinoda}, title={Real-time emulation of networked robot systems}, proceedings={1st International ICST Conference on Simulation Tools and Techniques for Communications, Networks and Systems}, publisher={ICST}, proceedings_a={SIMUTOOLS}, year={2010}, month={5}, keywords={Real-time system emulation networked robots WLAN emulation large-scale testbed.}, doi={10.4108/ICST.SIMUTOOLS2008.2946} }- Razvan Beuran
Junya Nakata
Takashi Okada
Yasuo Tan
Yoich Shinoda
Year: 2010
Real-time emulation of networked robot systems
SIMUTOOLS
ICST
DOI: 10.4108/ICST.SIMUTOOLS2008.2946
Abstract
In this paper we present a methodology for the evaluation of networked systems communicating using WLAN technology. We show a case study of goal-oriented cooperating robots, for which our approach is particularly useful. Developing robots is expensive; hence emulation can be employed in the first part of the development cycle to study robot software implementations in realistic conditions at a reduced cost. Our methodology is based on the emulation of both the robots and the WLAN communication technology. The robots we consider cooperate in order to efficiently reach a destination while avoiding collisions with obstacles and other robots. The WLAN communication emulation engine QOMET is deployed in the emulated robots to recreate network conditions similar to those occurring in a real WLAN environment. The experiments are run on a large-scale network experiment environment, StarBED, using the support software RUNE. Currently, over one hundred emulated robots can be run simultaneously during an experiment on our testbed.
