Abstract
The requirements for autonomous systems (of systems) have started to include the cooperation between heterogeneous assets in order to accomplish complex missions. Therefore, interoperability – both at the conceptual and technical level – between different types of systems and domains is essential. In the M&S community HLA is the reference standard to design, develop and test interoperable systems of systems. In this article, a HLA-based link between simulation and an autonomous system using the ROS middleware is presented. The integration of an Autonomous Underwater Vehicle (AUV), more specifically the SPARUS II, in a HLA federation using the proposed link has been tested for a harbour protection mission. For this scenario, the hardware and software of the AUV has been included in a federation together with a virtual simulator. The link allows easy inclusion of ROS-based assets in HLA federations, thereby enriching both the M&S and robotic communities which will benefit from this approach which allows the development of more complex and realistic simulated scenarios with hardware- and software-in-the-loop.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Quigley, M., Conley, K., Gerkey, B.P., Faus, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: and open-source Robot Operating System. In: International Conference on Robotics and Automation (ICRA) Workshop on Open Source Software, Kobe, Japan (2009)
Newman, P.: MOOS: Mission Oriented Operating Suite. In: Oxford Mobile Robitcs Group (2001)
Gerkey, B., Vaughan, R.T., Howard, A.: The player/stage project: tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal (2003)
Metta, G., Fitzpatrick, P., Natale, L.: YARP: yet another robot platform. Int. J. Adv. Robot. Syst. 3(1), 43–48 (2006)
OROCOS Project, Open Robot Control Software (2003). http://www.orocos.org/
Hodicky, J.: Modelling and simulation in the autonomous systems’ domain - current status and way ahead. In: Hodicky, J. (ed.) MESAS 2015. LNCS, vol. 9055, pp. 17–23. Springer, Heidelberg (2015)
IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA) Framework and Rules. In: IEEE Std. 1516-2010 (Revision of IEEE Std. 1516-2000), pp. 1–38 (2010)
Hodicky, J.: HLA as an experimental backbone for Autonomous System integration into operational field. In: Hodicky, J. (ed.) MESAS 2014. LNCS, vol. 8906, pp. 121–126. Springer, Heidelberg (2014)
Reid, M.R., Powers, E.I.: An evaluation of the high level architecture (HLA) as a framework for NASA modeling and simulation. In: Proceedings of the 25th NASA Software Engineering Workshop, Greenbelt, MD, USA (2000)
Arguello, L., Miró, J.: Distributed interactive simulation for space projects. In: ESA Bulletin, pp. 125–130 (2000)
Lane, D.M., Falconer, G.J., Randall, G., Edwards, I.: Interoperability and synchronisation of distributed hardware-in-the-loop simulation for underwater robot development: issues and experiments. In: Proceedings of International Conference on Robitics & Automation (ICRA), Seul, Korea (2001)
Joyeux, S., Alami, R., Lacroix, S., Lampe, A.: Simulation in the LAAS architecture. In: Proceedings of the International Conference on Robotics and Automation Workshop on Software Development in Robotics, Barcelona, Spain (2005)
Nebot, P., Torres-Sospedra, J., Martínez, R.J.: A new HLA-based distributed control architecture for agriculture teams of robots in hybrid applications with real and simulated devices or environments. Sensors 11(4), 4385–4400 (2011)
Bellifemine, F., Poggi, A., Rimassa, G.: JADE-A FIPA-compliant agent framework. In: Proceedings of PAAM, London, UK (1999)
Carreras, M., Candela, C., Ribas, D., Mallios, A., Magí, L., Vidal, E., Palomeras, N., Ridao, P.: Sparus II, design of a lightweight hovering AUV. In: Proceedings fo the 5th International Workshop on Marine Technology, Martech 2013, Girona, Spain (2013)
Palomeras, N., El-Fakdi, A., Carreras, M.: COLA2: a control architecture for AUVs. IEEE J. Ocean. Eng. 4, 37 (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing AG
About this paper
Cite this paper
Carrera, A., Tremori, A., Caamaño, P., Been, R., Crespo Pereira, D., Bruzzone, A.G. (2016). HLA Interoperability for ROS-Based Autonomous Systems. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2016. Lecture Notes in Computer Science(), vol 9991. Springer, Cham. https://doi.org/10.1007/978-3-319-47605-6_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-47605-6_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-47604-9
Online ISBN: 978-3-319-47605-6
eBook Packages: Computer ScienceComputer Science (R0)