HLA interoperability for ROS-based autonomous systems
The requirements for autonomous systems (of systems) have started to include the cooperation between heterogeneous assets in order to accomplish complex missions. Therefore, interoperability - both at the conceptual and technical level - between different types of systems and domains is essential. In the M&S community HLA is the reference standard to design, develop and test interoperable systems of systems. In this article, a HLA-based link between simulation and an autonomous system using the ROS middleware is presented. The integration of an Autonomous Underwater Vehicle (AUV), more specifically the SPARUS II, in a HLA federation using the proposed link has been tested for a harbour protection mission. For this scenario, the hardware and software of the AUV has been included in a federation together with a virtual simulator. The link allows easy inclusion of ROS-based assets in HLA federations, thereby enriching both the M&S and robotic communities which will benefit from this approach which allows the development of more complex and realistic simulated scenarios with hardware- and software-in-the-loop.
SourceIn: Hodicky J. (eds) Modelling and Simulation for Autonomous Systems (MESAS 2016). Lecture Notes in Computer Science, vol 9991, pp. 128-138, Springer, doi: doi.org/10.1007/978-3-319-47605-6_10
Caamaño Sobrino, Pilar;
Crespo Pereira, Diego;