Скачать или смотреть Unified DEVS Based Platform for Modeling and Simulation of Hybrid Control Systems (WSC 2020)

Abstract:
Recent robotic research has led to different architectural approaches that support enactment of automatically synthesized discrete event controllers from user specifications over low-level continuous variable controllers. Simulation of these hybrid control approaches to robotics can be a useful validation tool for robot users and architecture designers, but presents the key challenge of working with discrete and continuous representations of the robot, its environment and its mission plans. In this work we address this challenge showcasing a unified DEVS-based hybrid simulation platform. We model and simulate the hybrid robotic software architecture of a fixed-wing UAV, including the full stack of controllers involved: discrete, hybrid and continuous. We validate the approach experimentally on a typical UAV mapping mission and show that with our unified approach we are able to achieve simulation speed-ups up to one order of magnitude above our previous Software In The Loop simulation setup.

0:00:00 Introduction
0:00:18 Motivation
0:01:37 Problems
0:02:18 Goals
0:02:48 Hybrid Control Architecture
0:03:48 Hybrid Systems Modelling and Simulation with DEVS
0:05:15 Simulation Model Architecture
0:06:02 Continuous Aircraft Dynamics (Robot Layer)
0:06:45 Real Aircraft Parameter Identification
0:07:16 Feedback Controllers (Robot Layer)
0:08:00 Mapping a Mission
0:08:20 Motion Path/Planner (Hybrid Control Layer)
0:08:45 Hybrid Control Layer and Discrete Event Layer
0:09:34 Model Validation with Real Traces
0:10:15 Simulation of a Coverage Mission
0:11:10 Assessing the Impact of Delayed Messages
0:11:58 Discussion
0:13:12 Concluding Remarks and Next Steps