The CUSCUS simulator for distributed networked control systems: Architecture and use-cases

Zema, Nicola Roberto; Trotta, A.; Natalizio, Enrico; Felice, Marco Di; Bononi, Luciano

doi:10.1016/j.adhoc.2017.09.004

Cited by 16 publications

(5 citation statements)

References 31 publications

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“…Different simulation frameworks for UAV networks have already been proposed. CommUnicationS-Control distribUted Simulator (CUSCUS) [13] provides interconnection of ns-3 and Framework libre AIR (FL-AIR) based on Linux containers with some limitations regarding simulated network connectivity, as Long Term Evolution (LTE), is currently not supported. FlyNetSim [14] is a Hardware-in-the-Loop (HIL) focused platform, which follows a middleware-based approach to couple ns-3 with Ardupilot.…”

Section: Related Workmentioning

confidence: 99%

Flying Robots for Safe and Efficient Parcel Delivery Within the COVID-19 Pandemic

Patchou

Sliwa

Wietfeld

2021

2021 IEEE International Systems Conference (SysCon)

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The integration of small-scale Unmanned Aerial Vehicles (UAVs) into Intelligent Transportation Systems (ITSs) will empower novel smart-city applications and services. After the unforeseen outbreak of the COVID-19 pandemic, the public demand for delivery services has multiplied. Mobile robotic systems inherently offer the potential for minimizing the amount of direct human-to-human interactions with the parcel delivery process. The proposed system-of-systems consists of various complex aspects such as assigning and distributing delivery jobs, establishing and maintaining reliable communication links between the vehicles, as well as path planning and mobility control. In this paper, we apply a system-level perspective for identifying key challenges and promising solution approaches for modeling, analysis, and optimization of UAV-aided parcel delivery. We present a system-of-systems model for UAV-assisted parcel delivery to cope with higher capacity requirements induced by the COVID-19. To demonstrate the benefits of hybrid vehicular delivery, we present a case study focusing on the prioritization of time-critical deliveries such as medical goods. The results further confirm that the capacity of traditional delivery fleets can be upgraded with drone usage. Furthermore, we observe that the delay incurred by prioritizing time-critical deliveries can be compensated with drone deployment. Finally, centralized and decentralized communication approaches for data transmission inside hybrid delivery fleets are compared.

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Section: Related Workmentioning

confidence: 99%

Flying Robots for Safe and Efficient Parcel Delivery Within the COVID-19 Pandemic

Patchou

Sliwa

Wietfeld

2021

2021 IEEE International Systems Conference (SysCon)

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“…In this section, we provide a summary of existing joint robot-network simulators. Due to their popularity, most frameworks in literature like FlyNetSim [5], CUSCUS [20], AVENS [13], and CORNET 1.0 [2], focus on UAV-centric applications. These frameworks are designed for a specific application and do not translate appropriately to other robotic applications.…”

Section: Related Workmentioning

confidence: 99%

CORNET: A Co-Simulation Middleware for Robot Networks

Acharya

Bharadwaj

Simmhan³

et al. 2020

2020 International Conference on COMmunication Systems &Amp; NETworkS (COMSNETS)

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We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is necessary to co-design the multi-robots' autonomy logic and the communication protocols. The proposed framework extends existing tools to simulate the robot's autonomy and network-related aspects. We have used Gazebo with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the network simulator to capture the cyber-physical systems properties of the multi-robot system. This framework addresses the need to seamlessly integrate the two simulation environments by synchronizing mobility and time, allowing for easy migration of the algorithms to real platforms.

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“…These two facts together make it difficult to simulate spinning nodes embedding non-isotropic antennas for WiFi networks, at least without rewriting much of the ns-3 models. UAV simulators based on ns-3 such as CUSCUS [18] or FlyNetSim [2] are focused on hardware-in-the-loop, software-in-the-loop or real-time simulations, and do not model the antennas. The developed simulation framework is available as an open source project at GitHub 2 .…”

Section: Simulation Frameworkmentioning

confidence: 99%

Leveraging Antenna Orientation to Optimize Network Performance of Fleets of UAVs

Grünblatt

Lassous

Simonin

2020

Proceedings of the 23rd International ACM Conference on Modeling, Analysis and Simulation of Wireless and Mobile Systems

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In this paper, we investigate the problem of optimizing the network performance of a fleet of unmanned aerial vehicles (UAVs) in static positions. More precisely, we allow each UAV to change its orientation in order to improve the quality of communication with its neighbours. This form of controlled mobility takes advantage of the effective radiation pattern of each UAV. We build a decentralized scheme based on the hill climbing optimization approach without a priori knowledge of the antennas radiation patterns. Then, we propose a simulation framework, based on ns-3, allowing to evaluate the gain in network performance. We provide results in several deployment scenarios involving different rate adaptation algorithms and network sizes. 1

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The CUSCUS simulator for distributed networked control systems: Architecture and use-cases

Cited by 16 publications

References 31 publications

Flying Robots for Safe and Efficient Parcel Delivery Within the COVID-19 Pandemic

Flying Robots for Safe and Efficient Parcel Delivery Within the COVID-19 Pandemic

CORNET: A Co-Simulation Middleware for Robot Networks

Leveraging Antenna Orientation to Optimize Network Performance of Fleets of UAVs

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