Cooperative control in HNMSim - A 3D hybrid networked MAS simulator
Xu, J. Xie, L. Khanna, N. Chee, W.H.
Xie, L.
Khanna, N.
Chee, W.H.
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Abstract
A multi-purpose 3D simulator named HNMSim (hybrid networked multi-agent system (MAS) simulator) with application in cooperative control is presented in this paper. Based on USARSim (Unified system for automation and robot simulation) [37], Unreal Engine [33], LabView [17], Matlab [20] and OMNet++ [22], this simulator creates a high-fidelity simulation environment for networked MAS. To provide assistant in research and education, we present three interfaces based on LabView, Matlab and OMNet++, respectively. The system structure (hardware-in-the-loop simulation) and design methodology are also briefly described. In addition, the network simulation is highlighted. Furthermore, we show its wide applications in networked MAS by demonstrating its usage in distributed formation control, distributed coverage control and search problem using multiple UAVs/UGVs. © 2012 IEEE.
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2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012
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Date
2012
DOI
10.1109/ICARCV.2012.6485230
Type
Conference Paper