A Framework for Realistic Simulation of Networked Multi-Robot Systems

Networked robotics is an area that integrates multi-robot and network technology. The characteristics and the reliability of the communication environment play a fundamental role shaping and affecting behavior and performance of a mobile multi-robot system. In this context, two basic questions arise: how much the overall performance is affected and how can we investigate this influence? Addressing these two questions, in this paper we present the architecture of an integrated simulation environment that allows for realistic simulation of networked robotic systems. The proposed framework integrates two simulators: a network simulator and a multi-robot simulator. We present two implementations based on the ARGoS simulator for the robotic side, and with ns-2 and ns-3 employed as network simulators. We evaluate the proposed tools, both in isolation and integration, and show that they are able to efficiently simulate systems consisting of hundreds of robots. Moreover, we use the proposed framework to demonstrate the effects of communication on the performance of a mobile multi-robot system performing distributed coordination and task assignment. We compare realistic network simulation with simplified communication models and we study the resulting behavior and performance of the robotic system.