HLA Interoperability for ROS-Based Autonomous Systems

  • Arnau CarreraEmail author
  • Alberto Tremori
  • Pilar Caamaño
  • Robert Been
  • Diego Crespo Pereira
  • Agostino G. Bruzzone
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9991)


The requirements for autonomous systems (of systems) have started to include the cooperation between heterogeneous assets in order to accomplish complex missions. Therefore, interoperability – both at the conceptual and technical level – between different types of systems and domains is essential. In the M&S community HLA is the reference standard to design, develop and test interoperable systems of systems. In this article, a HLA-based link between simulation and an autonomous system using the ROS middleware is presented. The integration of an Autonomous Underwater Vehicle (AUV), more specifically the SPARUS II, in a HLA federation using the proposed link has been tested for a harbour protection mission. For this scenario, the hardware and software of the AUV has been included in a federation together with a virtual simulator. The link allows easy inclusion of ROS-based assets in HLA federations, thereby enriching both the M&S and robotic communities which will benefit from this approach which allows the development of more complex and realistic simulated scenarios with hardware- and software-in-the-loop.


High level architecture (HLA) Robot operating system (ROS) Interoperability Autonomous underwater vehicle (AUV) Autonomous systems Hardware in the loop (HIL) Software in the loop (SIL) 


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Arnau Carrera
    • 1
    Email author
  • Alberto Tremori
    • 1
  • Pilar Caamaño
    • 1
  • Robert Been
    • 1
  • Diego Crespo Pereira
    • 2
  • Agostino G. Bruzzone
    • 3
  1. 1.NATO STO CMRELa SpeziaItaly
  2. 2.Universidade de CoruñaCoruñaSpain
  3. 3.University of GenoaGenoaItaly

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