Communications with Thetis, a Real Time Multi-vehicles Hybrid Simulator

Olivier Parodi 1 Vincent Creuze 1 Bruno Jouvencel 1
1 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The purpose of this paper is to present the communications aspect in Thetis, a real time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows hardware in loop (HIL) simulations including virtual sensors which allows to provide a representation of a virtual world, and with the support of communication devices, which allow overall communications between vehicles. After a short state of the art, we introduce the main mechanisms of our simulator. Then we present the modeling of the phenomena which are encountered when AUVs (Autonomous Underwater Vehicle) communicate with aquatic modems, and the messages distribution system considering the assumptions we have made. Finally, we present results of our Hardware In Loop Simulation in which Taipan 2 and Taipan 300 (our 2 AUVs) exchange messages in different spatial configurations.
Type de document :
Communication dans un congrès
ISOPE: International Society of Offshore and Polar Engineers, Jul 2008, Vancouver, Canada. pp.326-331, 2008, 〈http://www.isope.org/call4papers/2008/CALL-2008-Vancouver-DL1120.pdf〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00311712
Contributeur : Olivier Parodi <>
Soumis le : mercredi 20 août 2008 - 13:42:17
Dernière modification le : jeudi 24 mai 2018 - 15:59:23
Document(s) archivé(s) le : jeudi 3 juin 2010 - 18:36:17

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  • HAL Id : lirmm-00311712, version 1

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Olivier Parodi, Vincent Creuze, Bruno Jouvencel. Communications with Thetis, a Real Time Multi-vehicles Hybrid Simulator. ISOPE: International Society of Offshore and Polar Engineers, Jul 2008, Vancouver, Canada. pp.326-331, 2008, 〈http://www.isope.org/call4papers/2008/CALL-2008-Vancouver-DL1120.pdf〉. 〈lirmm-00311712〉

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