Skip to Main content Skip to Navigation
Conference papers

Thetis: A Real-Time Multi-Vehicles Hybrid Simulator for Heterogeneous Vehicles

Olivier Parodi 1 Lionel Lapierre 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 Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling between the virtual environment, the vehicles, sensors and communication simulators and, of course, the actual embedded controller which warrants us the temporal consistency of the results. Our contribution concerns the proposed simulator architecture. This architecture gathers all the important features required to simulate a flotilla (including communications skills). This paper presents the architecture and functionalities of Thetis and present some simulation results with the support of communications.
Document type :
Conference papers
Complete list of metadata

Cited literature [3 references]  Display  Hide  Download
Contributor : Olivier Parodi Connect in order to contact the contributor
Submitted on : Saturday, April 4, 2009 - 12:22:08 AM
Last modification on : Friday, October 22, 2021 - 3:07:32 PM
Long-term archiving on: : Thursday, June 10, 2010 - 7:45:45 PM


Files produced by the author(s)


  • HAL Id : lirmm-00373346, version 1


Olivier Parodi, Lionel Lapierre, Bruno Jouvencel. Thetis: A Real-Time Multi-Vehicles Hybrid Simulator for Heterogeneous Vehicles. IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. ⟨lirmm-00373346⟩



Record views


Files downloads