Abstract
We present a novel real-time simulation tool for modeling and analyzing a swarm of distributed autonomous mobile robots communicating over an unreliable and capacity restricted communication network. The robots are setup as ground vehicles and use C-PBP [8] as model predictive closed loop controller. This tool offers the ability to simulate rural as well as completely urban scenarios with static obstacles, dynamic obstacles with scripted movement, soil condition, noise floor, active jammers and static and dynamic obstacles for the links with adjustable damping. The goal of this simulation is the analysis of swarm behavior of robots for given missions such as terrain exploration, convoy escorting or creation of a mobile ad hoc network in disaster areas under realistic environmental conditions.
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Puzicha, A., Buchholz, P. (2021). A Simulation Environment for Autonomous Robot Swarms with Limited Communication Skills. In: Song, H., Jiang, D. (eds) Simulation Tools and Techniques. SIMUtools 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 370. Springer, Cham. https://doi.org/10.1007/978-3-030-72795-6_17
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