20130524 hybrid worldsmultirobot_cignonifedi

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20130524 hybrid worldsmultirobot_cignonifedi

  1. 1. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Hybrid Worlds for Multi-RobotSystem SimulationSpeakers: PhD Francesco Fedi LT(N) Alessandro CignoniSistemi Software Integrati NATO M&S COE
  2. 2. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Complex Operational ScenarioUNMANNED SYSTEMS ARE MORE AND MORE USED IN DIFFERENT KIND OF OPERATIONS, SUCH ASAREA CLEARING, AREA PATROLLING, INTELLIGENCE, AND SO ON. MULTI-ROBOT SYSTEMS (MRS)REPRESENT ONE STEP FORWARD FOR A WIDESPREAD USE OF ROBOTS IN MILITARY AND SECURITYOPERATIONS.
  3. 3. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013RT-DDS• The Object Management Group (OMG) hasspecified the Real Time Data DistributionServices (RT-DDS) to address Real-timeArchitectures.• RT-DDS targets high-performance networks.• RT-DDS changes how to design and set up ahighly-connected, real-time networkedapplication.• Reference Standards :– Data Distribution Service for Real-timeSystems Version 1.2– The Real-time Publish-Subscribe WireProtocol-DDS Interoperability Wire ProtocolSpecification, V 2.1, June 2008AN APPLICATION MAY REGISTER TOMULTIPLE DOMAINSBEE DDS PRODUCT IMPLEMENTSRT-DDS REFERENCE STANDARDS
  4. 4. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013The BeeDDS ProductTHE BEE DDS IS THE SSI PRODUCT THAT PROVIDES FOR A FULL VERSION OF THE DDS OMG STANDARD, WHICHADDS SPECIFIC FUNCTIONALITY SUCH AS: FULL SUPPORT FOR AD-HOC (NO INFRASTRUCTURE) NETWORKS SUPPORT TO DISANVANTAGE/LOW BANDWIDTH NETWORKS NATIVE INFORMATION ASSURANCE ACTING AT ALL OF THE DDS INTERNAL PROTOCOLSBEE DDS IS THE RESULT OF A COHERENTSET OF RESEARCH PROJECTSMinistero Difesa: DGATBEE-DDS features :► Strength► Security► Scalability► Predictability► Adaptivity► PersistenceBEE DDS SUPPORTS MANY DIFFERENTPLATFORMS, WHICH COMPOSE NETWORK-CENTRIC SYSTEMS.
  5. 5. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Bee Swarm Multi mission, multiplatform (UxV, Intelligent Sensor) Autonomously Adapts to changing operational conditions Dynamic Task (re-)Allocation Robot Coordination and Cooperation Autonomous robot fault detection and recoveryMinistero Difesa: DGAT
  6. 6. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Robotic Operating System (ROS) ROS IS A SOFTWARE FRAMEWORK FOR ROBOT SOFTWARE DEVELOPMENT. ROS PROVIDES STANDARD OPERATING SYSTEM SERVICES SUCH AS HARDWARE ABSTRACTION, LOW-LEVELDEVICE CONTROL, COMMONLY-USED FUNCTIONALITY, MESSAGE-PASSING BETWEEN PROCESSES. ROS PROVIDES ALSO HIGH LEVEL CAPABILITIES SUCH AS SIMULTANEOUS LOCALIZATION AND MAPPING, PATHPLANNING & CONTROL, SENSOR CONTROL. ROS PROVIDES A MULTIROBOT SIMULATION PLATFORM FOR SYSTEM DEBUG AND SET-UP IN VIRTUALENVIRONMENT BEFORE THE DEPLOYMENT ONTO THE PHYSICAL PLATFORMS.
  7. 7. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Virtual World Connector VWCThe Virtual Word Connector allows forsynergies between 3D graphic engine andData Distribution Services (DDS). Theresulting 3D Engine adopts a data-centricarchitecture which allows for:• Scalable simulations;• Hybrid simulations: physical & virtualnodes can cooperate together;• Evolutionary development: newfeatures/nodes may be added as plug-insof existing scenarios with minimal or notat all impact on the existing components;3D EngineVirtual World ConnectorRenderMethodsBEEDDSTopicTopic
  8. 8. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013VWC DemonstratorPhysical RobotVirtual World ConnectorVirtual Robotvia ROSSimulation Console Operator Console• The diagram below presents a possible use of Virtual Word Connector. Using the DDSstandard, it allows to represent in a three-dimensional virtual scenario the real-time executionof a data-centric work session.• Moreover, it receives data from a session of virtual work in a completely transparent way as ifthere were real robots and the simulation console represents the two runs properly.• It is also possible to generate actions in the virtual world starting from real world solicitationsand vice-versa, in a perspective of "mixed-reality" simulation.
  9. 9. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013NATO M&S COE Project• OMG DDS as a technologyfor Real Time DistributedSimulation.• Modelling & Simulation of Complex Systems in the OperationalEnvironment.• Hybrid Worlds for Multi-Robot Simulation.
  10. 10. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013DDS & HLA• DDS & HLA similaritiesDDS has a publish/subscribe communicationarchitecture, supports object modelling and thenotion disseminating updates to object instances,provides support for content based subscriptionswhich may be linkened to DDM regions, andstandardizes on the API specification forportability.• DDS & HLA differencesDDS does not address with some aspectsaddresses by HLA like time management andfederation management. It differs in its support forobject modeling, and ownership management.DDS otherwise addresses some new aspectssuch as: a rich set Quality of Service (QoS)policies, a strongly typed data model, support forstate propagation including coherent and ordereddata distribution.HLA DDSHLA-OMT DDS-DLRLHLA-RTI (IFSpec) DDS-DCPSHLA-Rules -Federation DomainRTIAmbassador DomainParticipant, Publisher,DataWriter, Subsciber,DataReaderFederateAmbassador Listener classesObject class Keyed TopicInteraction class Topic (no keys)Update attribute Write «keyed» instanceReflect attribute Read/Take «keyed» data samplesSend Interaction Write «non-keyed» instanceReceive Interaction Read/Take «non-keyed» samplesThanks to Joshi, Castellote Paper «A Comparison andMapping of Data Distribution Service and High-LevelArchitecture»
  11. 11. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Complex Systems in Operations• Evolution of Unmanned Systems into Autonomous Systems• ASs in the C4ISTAR Battle Network• Complex Systems in the Operational Scenario• Simple Components or Agents (simple relative to whole system)• Nonlinear interactions among components• No central Control• Emergent behaviours• hierarchical organization• information processing• dynamics• evolution and learning
  12. 12. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Complex Systems in OperationsSelf-OrganizationProduction of organized patterns, resulting from localized interactions withinthe components of the system, without any central control• Flocking and Schooling• Synchronization• “Foraging”• Task Allocation
  13. 13. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013The Leopardo Bee ProjectMain Goals of the Leopardo Bee Project• Use of Real Systems• Use of DDS for Communication in the Hybrid World• Implementation/Simulation of Cooperative Algorithms in theHybrid World• Envisioning a Training Interface
  14. 14. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013The Lopardo Bee ProjectThanks to Italian Army and “Scuola Trasmissioni dell’Esercito”for the support to the Experimental Activity
  15. 15. NATO Modelling & Simulation Centre Of ExcellenceLTN Alessandro CIGNONIPhD Francesco FEDI ITEC 2013Rome, 24th May 2013Thanks for Your AttentionPhD Francesco Fedifrancesco.fedi@ssi.itLT (N) Alessandro Cignonimscoe.cd06@smd.difesa.it

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