Abstract
This paper proposes a layered framework for combining virtual and real simulation. The framework combines a physical system based on ROS with a simulation system based on a simulation engine, builds a multi-level agent middleware between virtual and real heterogeneous systems, and analyzes the latency and packet loss rate metrics of multi-level agent communication through experiments. When sending messages at 50 Hz as frequency, reducing the number of agent levels leads to a significant reduction in the average value of latency and jitter. More stable communication performance and increased bandwidth reduce the packet loss rate. The variation of communication performance with frequency for the most complex three-level agent is analyzed with emphasis. Finally, the conclusions of the experiments are given, and future work has prospected.
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Mao, Z., Gao, J., Gong, J., Zhang, M. (2022). Performance Degradation of Multi-level Heterogeneous Middleware Communication in Virtual-Reality Simulation. In: Fan, W., Zhang, L., Li, N., Song, X. (eds) Methods and Applications for Modeling and Simulation of Complex Systems. AsiaSim 2022. Communications in Computer and Information Science, vol 1712. Springer, Singapore. https://doi.org/10.1007/978-981-19-9198-1_15
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DOI: https://doi.org/10.1007/978-981-19-9198-1_15
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