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DEVS-OVER-ROS (DOVER): A FRAMEWORK FOR SIMULATION-DRIVEN EMBEDDED CONTROL OF ROBOTIC SYSTEMS BASED ON MODEL CONTINUITY | IEEE Conference Publication | IEEE Xplore

DEVS-OVER-ROS (DOVER): A FRAMEWORK FOR SIMULATION-DRIVEN EMBEDDED CONTROL OF ROBOTIC SYSTEMS BASED ON MODEL CONTINUITY


Abstract:

Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can b...Show More

Abstract:

Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the DEVS framework for robust modeling and real-time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom-made crafted robotic system is built concurrently with the design of its controller.
Date of Conference: 09-12 December 2018
Date Added to IEEE Xplore: 03 February 2019
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Conference Location: Gothenburg, Sweden

References

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