With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is tedious and may result in the wastage of valuable resources. Especially for heterogeneous multi-agent systems in battlefield environments where communication is critical in determining the system’s behavior and usability. Due to the necessity of simulators of separate paradigms (co-simulation) to simulate such scenarios before deploying, synchronization between those simulators is vital. Existing works aimed at resolving this issue fall short of addressing diversity among deployed agents. In this work, we propose SynchroSim, an integrated co-simulation middleware to simulate a heterogeneous multi-robot system. Here we propose a velocity difference-driven adjustable window size approach with a view to reducing packet loss probability. It takes into account the respective velocities of deployed agents to calculate a suitable window size before transmitting data between them. We consider our algorithm specific simulator agnostic but for the sake of implementation results, we have used Gazebo as a Physics simulator and NS-3 as a network simulator. Also, we design our algorithm considering the Perception-Action loop inside a closed communication channel, which is one of the essential factors in a contested scenario with the requirement of high fidelity in terms of data transmission. We validate our approach empirically at both the simulation and system level for both line-of-sight (LOS) and non-line-of-sight (NLOS) scenarios. Our approach achieves a noticeable improvement in terms of reducing packet loss probability (≈11%), and average packet delay (≈10%) compared to the fixed window size-based synchronization approach.
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Participatory and Evolutionary Fire Simulation via a Sensitive Control of Key Scenery Parameters
Fire simulator training is a very effective way to reduce firefighter injuries and improve their mission performance. However, the usability of existing fire simulators remains an issue as most of these simulators require users to set up hundreds or even thousands of parameters to initiate the simulation. In this paper, we present a participatory and evolutionary fire simulation method that balances the accuracy and fidelity of the fire simulation and the usability. The base parameters for accurate and usable fire simulation can be selected by a combination of the evolutionary algorithm and the knowledge of domain experts via the virtual reality (VR) fire simulator. These base parameters are expected to expedite the use of fire simulators and reduce the adoption threshold.
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- Award ID(s):
- 1937878
- NSF-PAR ID:
- 10152103
- Date Published:
- Journal Name:
- ASCE Computing in Civil Engineering Conference 2019
- Page Range / eLocation ID:
- 103 to 111
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1061/9780784482421.014
