Abstract
ASCARI is a simulator dedicated to distributed and cooperative mobile robotics systems, designed as a framework for implementing and testing multi-agent collaborative algorithms, especially suited to evaluate algorithms performances with a non-perfect communication channel (e.g. delayed, limited bandwidth, limited range). Compared to state-of-art simulators, ASCARI meets a complex new requirement: inter-agent communication has to be integrated in the simulation loop.
The project core is a simulation server with a dynamic engine, a synchronization facility and a set of simulated communications providing the characteristics of the communication channel. Different channel requirements can be added by users.
Inter-agent communication is provided in a transparent way to the user by template communication classes. Simulated communications and filters are handled automatically. The simulator is completed by a 2D-3D viewer and a simple GUI.
In this paper we describe ASCARI and validate it on a distributed traffic control and a task assignment algorithm.
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Ferrati, M., Settimi, A., Pallottino, L. (2014). ASCARI: A Component Based Simulator for Distributed Mobile Robot Systems. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2014. Lecture Notes in Computer Science, vol 8906. Springer, Cham. https://doi.org/10.1007/978-3-319-13823-7_14
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DOI: https://doi.org/10.1007/978-3-319-13823-7_14
Publisher Name: Springer, Cham
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