Hardware-in-the-loop development framework for multi-vehicle autonomous systems

Pannocchi, Luigi; Marinoni, Mauro; Buttazzo, Giuseppe

doi:10.1109/icarsc.2017.7964046

Cited by 6 publications

(1 citation statement)

References 10 publications

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“…For autonomous vehicles, Pannocchi et al (2017) presents a simulation framework for multi-vehicle autonomous systems. Peñaranda, et al (2017) proposes the use of SPADE MAS platform and multi-agent system to improve mobile robots' arrangement.…”

Section: Agent-based Simulation Of Warehousesmentioning

confidence: 99%

Support the Decision Processes in Management Through the Automatic Generation of Simulation Models of Warehouses

Kluska¹

2021

ERSJ

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Purpose:The most important goal of the paper is to demonstrate the possibility of developing and implementing the methodology of automatic generation of warehouse models of various types with the use of ABSagent-based simulation. Methodology: The highlights of the paper include management support through simple simulation modeling of storage and logistics systems using an agent-based approach, methodology of automatic generation of simulation models using Agent Based Simulation; Description of a new type of mobile, automatically controlled shelves. Simulation modeling is performed with the use of LogABS simulation software. The software engine/source code is written in the C ++ language. Findings: The described mechanism can be extended with the ability to generate other types of storage systems to enable comparisons of their usability for specific input and output streams. Practical implications: The paper describes the methodology, the use of which significantly reduces the time of decision-making in designing warehouse layouts. These decisions concern the organization of space and the choice of the storage technology. Using the described tools enables rapid verification of the given concept by automatically generating simulation models of warehouses, considering various storage technologies, including the drawer rack system. Originality/value: The publication proves that automating the simulation modeling processes of warehouses brings many benefits, allowing simulation technologies to become a tool available to users with neither advanced programming skills nor previous experience in working with such programs.

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Section: Agent-based Simulation Of Warehousesmentioning

confidence: 99%

Support the Decision Processes in Management Through the Automatic Generation of Simulation Models of Warehouses

Kluska¹

2021

ERSJ

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Integrated Framework for Fast Prototyping and Testing of Autonomous Systems

Pannocchi

Franco

Marinoni

et al. 2018

J Intell Robot Syst

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Development of a hardware-in-the-loop demonstrator for the validation of fault-tolerant control methods for a hybrid UAV

et al. 2021

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Many aircraft are inherently over-actuated with regard to their input variables. This can be particularly advantageous in the context of unmanned aerial vehicles (UAV), where actuator functions can fail in critical situations. In such cases, the redundant actuators can be used to further fulfil the control strategies used and thus increase the operational safety. Within such an active fault-tolerant control system, a fault detection and isolation (FDI) module is required. To evaluate such safety–critical systems, hardware-in-the-loop simulations (HIL) are a necessary step prior to real flight tests. These simulations can verify the correct implementation of the flight controller on the target hardware as well as the real-time capability of the algorithms used. Particularly in the context of active fault-tolerant control, investigations concerning the robustness of the used FDI module with regard to real, noisy sensor signals, which can be generated by a HIL demonstrator, are of utter importance. This paper presents the development of a HIL demonstrator for the validation of fault-tolerant control methods for a hybrid UAV. This includes a detailed description of the demonstrator’s design, control and interfacing between the integrated subsystems. As an application example, a hybrid UAV model will be shortly presented, which, in addition to the primary aerodynamic control surfaces, can also use four lift rotors to control the aircraft during cruise and is therefore inherently over-actuated. Finally, a closed-loop real-time simulation of the UAV model on the HIL demonstrator is presented on the basis of the exemplary simulation of an actuator failure and subsequent reconfiguration by the fault-tolerant flight control law.

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Hardware-in-the-loop development framework for multi-vehicle autonomous systems

Cited by 6 publications

References 10 publications

Support the Decision Processes in Management Through the Automatic Generation of Simulation Models of Warehouses

Support the Decision Processes in Management Through the Automatic Generation of Simulation Models of Warehouses

Integrated Framework for Fast Prototyping and Testing of Autonomous Systems

Development of a hardware-in-the-loop demonstrator for the validation of fault-tolerant control methods for a hybrid UAV

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