dc.contributor.author | Carrera, Arnau | |
dc.contributor.author | Tremori, Alberto | |
dc.contributor.author | Caamaño Sobrino, Pilar | |
dc.contributor.author | Been, Robert | |
dc.contributor.author | Crespo Pereira, Diego | |
dc.contributor.author | Bruzzone, Agostino | |
dc.date.accessioned | 2019-06-19T12:32:50Z | |
dc.date.available | 2019-06-19T12:32:50Z | |
dc.date.issued | 2019/06 | |
dc.identifier.govdoc | CMRE-PR-2019-084 | en_US |
dc.identifier.uri | http://hdl.handle.net/20.500.12489/824 | |
dc.description.abstract | 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. | en_US |
dc.format | 11 p. : ill. ; digital, PDF file | en_US |
dc.language.iso | en | en_US |
dc.publisher | CMRE | en_US |
dc.source | In: 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 | en_US |
dc.subject | High Level Architecture (HLA) | en_US |
dc.subject | Robotics | en_US |
dc.subject | Operating systems | en_US |
dc.subject | Autonomous Underwater Vehicles (AUV | en_US |
dc.subject | Modelling and simulation | en_US |
dc.title | HLA interoperability for ROS-based autonomous systems | en_US |
dc.type | Reprint (PR) | en_US |
dc.type | Papers and Articles | en_US |