Seamless Development of Robotic Applications using Middleware and Advanced Simulator

Burtin Gabriel, Bonnin Patrick, Malartre Florent

2019

Abstract

This paper addresses the issue of efficient transition from robotic simulation to field experiments and validation. The idea to ease this transition is to proceed step by step with small increments in complexity. A user begins with a simple and not so realistic simulation and evolve slowly to a complex and realistic one. We identified two axis to be tackled to achieve this steps by step complexity. The first axis is about the communication with the sensors: each sensors have a specific protocol. A simple simulation can by-pass this protocol by proposing a (universal) middleware connection while a complex one will emulate the real protocol to ensure a realistic data exchange between the processing unit and the sensor. The second axis is the opportunity to emulate a large spectrum of simulation complexity for a given sensor/environment. To increase the realism, similarly to the communication protocol, the realism of the sensor and its interactions with the environment can be increased from simple to the most realistic. These concepts are tested with a real use-case: the development of an indoor real-time localization system. The main development is done with a simulator compliant with our requirements. Afterward, the code designed with simulation is tested with a real robot for final validation.

Paper Citation

in Harvard Style

Gabriel B., Patrick B. and Florent M. (2019). Seamless Development of Robotic Applications using Middleware and Advanced Simulator.In Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-381-0, pages 239-246. DOI: 10.5220/0007831002390246

in Bibtex Style

@conference{simultech19,
author={Burtin Gabriel and Bonnin Patrick and Malartre Florent},
title={Seamless Development of Robotic Applications using Middleware and Advanced Simulator},
booktitle={Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2019},
pages={239-246},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007831002390246},
isbn={978-989-758-381-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Seamless Development of Robotic Applications using Middleware and Advanced Simulator
SN - 978-989-758-381-0
AU - Gabriel B.
AU - Patrick B.
AU - Florent M.
PY - 2019
SP - 239
EP - 246
DO - 10.5220/0007831002390246