Simulation-driven embedded control of robotic systems based on model continuity

PECKER MARCOSIG

Gotemburgo

Conferencia; Winter Simulation Confrence; 2018

Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, where robotic applications are a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller evolves transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. We rely on the Discrete EVent Systems Specification (DEVS) framework for robust modeling and real-time simulation of hybrid controllers, and on the Robotic Operating System (ROS), a middleware for flexible abstraction of sensors and actuators. We successfully tested our approach in scenarios where custom-made robots are designed concurrently with their controllers.