Demo: Co-simulation of UAVs with INTO-CPS and PVSio-web

  • Maurizio PalmieriEmail author
  • Cinzia Bernardeschi
  • Andrea Domenici
  • Adriano Fagiolini
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11176)


This demo shows our ongoing work on the co-simulation of co-operative Unmanned Aerial Vehicles (UAVs). The work is based on the INTO-CPS co-simulation engine, which adopts the widely accepted Functional Mockup Interface (FMI) standard for co-simulation, and the PVSioweb prototyping tool, that extends a system simulator based on the PVS logic language with a web-based graphical interface. Simple scenarios of Quadcopters with assigned different tasks, such as rendez-vous and space coverage, are shown. We assumed a linearized dynamic model for Quadcopters formalized in OpenModelica, and a linearized set of equations for the flight control module written in C language. The co-ordination algorithm is modeled in PVS, while PVSio-web is used for graphical rendering of the co-simulation.



The authors would like to thank Paolo Masci for the stimulating discussion on visual interfacing for co-simulation.


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  • Maurizio Palmieri
    • 1
    • 2
    Email author
  • Cinzia Bernardeschi
    • 2
  • Andrea Domenici
    • 2
  • Adriano Fagiolini
    • 3
  1. 1.Dipartimento di Ingegneria dell’InformazioneUniversity of FlorenceFlorenceItaly
  2. 2.Dipartimento di Ingegneria dell’InformazioneUniversity of PisaPisaItaly
  3. 3.Dipartimento di Energia, Ingegneria dell’Informazione e Modelli Matematici (DEIM)University of PalermoPalermoItaly

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