Simulator

     The main goal of this simulator with an advanced graphical interactive interface is to validate the fundamental principles developed in previous work-packages. It integrates agent's models, communication media and computation resources including their limitations, heterogeneous network, and all the variants of the multi-agent control strategies.


     This simulator is a shared platform where all our findings will be integrated and validated. The validation scenario is a real-size application complex enough to enforce the pertinence of our results. It will be further used as an open research tool for various applications in the field of multi-agents networked systems

      Besides the models and simulation engine the simulator is complemented with an interactive graphical interface which is used to visualise and interpret the state of the multi-agent control system in one direction and to send high or low-level controls to the agents.

Distributed simulator

    The Distributed Simulator is a generic and open simulation platform used to integrate various kinds of simulation components in a networked distributed environment. The platform manages physical and logical simulation software components but also hardware components. The simulator provides a generic interface to ease the integration of heterogeneous components, where the data exchanged between components are the state vectors of vehicles, sensors and controllers. The framework automatically manages the time synchronisation for each component and the data transfers between each components, whatever they are messages or data flows. The simulator architecture allows for a direct integration of hardware in the environment.

The simulator will be composed of two main components:

  • the Environment simulation component, and
  • the Generic vehicle physical model component.

Multi-vehicle Mission and scenario preparation tool

    The multi-vehicle mission and scenario preparation tool is used to define the mission and role of each kind of vehicles and actors which participate in the simulation. It federates in a same tool a multi-vehicle mission preparation (or mission planning) tool and a case generator.
This tool allows to define:

  • Environment initial conditions: mission zone, terrain, current
  • Vehicles instances with their initial properties : position, energy etc.
  • Vehicles roles in the simulation : predefine mission and/or autonomous behaviour (rules)
  • Vehicles interactions: master/slaves links, communications links
  • Simulation precision: simulation level for each simulation component (software or hardware  implementation)
  • Variable conditions used for system evaluation, such as current variation or failures generation.

    The preparation tool generates the mission and scenario description using a generic format to be used by the distributed simulator and simulation components.

Graphical Human/machine interface

    
     The goal of the graphical interface is to visualise and interpret the operational results of the multi-agent control strategies, and of course to perform high-level (and also low-level) interaction with the agents.
     
     In the framework of the Connect project it will be used in connection with the Distributed Simulator by the consortium members to assess the results of the modelling and control design related work packages.

    This interface will also be very useful for demonstration purposes, in order to explain the scientific concepts underlying the external (“visible”) behaviour of the agents.

     However this task also has its proper technological and scientific objectives since it relies on the latest research results in the field of Human-Robot Interaction, i.e. the optimisation of the interaction between a human supervisor and a fleet of autonomous or semi-autonomous agents through the design of specific graphical interfaces.