The CUSCUS simulator for distributed networked control systems: Architecture and use-cases
Résumé
The current merging of networking and control research fields within the scope of robotic applications is creating fascinating research and development opportunities. However, the tools for a proper and easy management of experiments still lag behind. Although different solutions have been proposed to simulate and emulate control systems and, more specifically, fleets of Unmanned Aerial Vehicles (UAV), still they do not include an efficient and detailed network-side simulation, which is usually available only on dedicated software. On the other hand, current advancements in network simulations suites often do not include the possibility to include an accurate description of controlled systems. In the middle 2010s, integrated solutions of networking and control for fleets of UAVs are still lacking. In this paper, a simulation architecture for networked control systems is presented. The architecture is based on well-known solutions in both the fields of networking simulation and UAV control simulation. We integrate them into a compact and efficient solution that shows scalability features and negligible architectural delays, as experimental results demonstrate.
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