Abstract
This paper presents a communication framework developed for interconnecting multi-systems based on the Data Distribution Service (DDS). The newly built framework, called ANIMO, facilitates the integration of DDS in an application and the interoperability between the different data types of the Cooperating Objects (COs) with the great feature of real-time. Furthermore, a powerful tool to generate code has been developed bringing the incorporation and the updating of the data types as a very easy and simple task. In addition, a novel module has been performed to give the capacity to communicate the ANIMO framework with the ROS middleware that makes even easier the integration of mobile robots as another Cooperating Object. This paper explains the complete architecture of the ANIMO framework, its diversity of possibilities and two principal works where it has been applied. One is a distributed simulator to validate embedded control algorithms. The other is the task of the supervision and message passing between quadrotors in an experiment of coordination and cooperation involving multiple aerial vehicles.
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Notes
- 1.
ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license [4].
- 2.
In the tracking for surveillance scenario, can be observed in the Fig. 4c, there are many UAVs and targets, therefore, the simulator framework is composed of a wrapper program for each UAV more the simulation engine program.
- 3.
It is the proposed sensor for the scenario. RBS System comprises two subsystems, one located in the UAV itself and another one installed on the ground surrounding the landing area. The RBS airborne system provides a relative position to the UAV on board computer (relative to the moving landing pad, located on the ship, in body fixed frame).
- 4.
This testbed is based on an indoor positioning system that uses 20 VICON cameras. This system can calculate the position and attitude of any moving object within the volume of the testbed (15 × 15 × 5 m) in real time (with an update rate of up to 500 Hz).
References
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© 2016 Springer International Publishing Switzerland
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Rodríguez, Y., Alejo, C., Alejo, I., Viguria, A. (2016). ANIMO, Framework to Simplify the Real-Time Distributed Communication. In: Guerrieri, A., Loscri, V., Rovella, A., Fortino, G. (eds) Management of Cyber Physical Objects in the Future Internet of Things. Internet of Things. Springer, Cham. https://doi.org/10.1007/978-3-319-26869-9_4
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DOI: https://doi.org/10.1007/978-3-319-26869-9_4
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