Interoperability and synchronisation of distributed hardware-in-the-loop simulation for underwater robot development: Issues and experiments

D. M. Lane, G. J. Falconer, G. Randall, I. Edwards, J. Evans, J. Smith, J. Hunter, J. Standeven, M. Colley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Development and integration of subsystems on advanced robots such as unmanned underwater vehicles, can benefit from the availability of a hardware-in-the-loop (HIL) simulation facility. Although complete interoperability of simulated and real subsystems appears desirable, substantial additional complexity of data flows and hardware can be introduced. Where non-real time simulations are involved, methods of synchronising subsystems running at different speeds must be employed, These should take account of the realities of starting and stopping real subsystem. The paper reviews some of these issues and presents the CORESIM distributed HIL system based around HLA. The system has been used to evaluate a timeslicing synchronisation approach, and to assist in development of docking, visual servoing and concurrent mapping & localisation systems for underwater vehicles.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages909-914
Number of pages6
Volume1
Publication statusPublished - 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Conference

Conference2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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    Lane, D. M., Falconer, G. J., Randall, G., Edwards, I., Evans, J., Smith, J., Hunter, J., Standeven, J., & Colley, M. (2001). Interoperability and synchronisation of distributed hardware-in-the-loop simulation for underwater robot development: Issues and experiments. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 909-914)