DEVS-over-ROS (DoveR): A framework for Simulation-Driven Embedded Control of Robotic Systems based on Model Continuity

RODRIGO DANIEL CASTRO; EZEQUIEL PECKER MARCOSIG; JUAN IGNACIO GIRIBET

Gotemburgo

Conferencia; Winter Simulation Conference; 2018

Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being 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 should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the the DEVS framework for robust modeling and real time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom made crafted robotic system is built concurrently with the design of its controller.