Devs-Over-ros (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity
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/hard...
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| Autores principales: | , , |
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| Formato: | CONF |
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| Acceso en línea: | http://hdl.handle.net/20.500.12110/paper_08917736_v2018-December_n_p1250_Marcosig |
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| Sumario: | 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. © 2018 IEEE |
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