A Multi-UAV Co-Simulation Environment for Safety and Performance Analysis
Resumo
Co-Simulation can provide important insights+G45 on how well mission strategies perform. Simulations can provide insights on which strategies could provide safety guarantees because of the high investments necessary for the creation of a multi-UAV system. We propose a co-simulation framework of multiple UAVs for the analysis of missions in order to evaluate different flight strategies with great efficiency. To make the environment as realistic as possible, we introduced external threats such as winds, sectors with flight restrictions, and aircraft crashes. We validated our framework using a case study of an air surveillance system, where two types of flight strategies comparing two different flight strategies. We can analyze trade-offs between the flight strategies, in terms, of chances of UAV collision, running out of energy, and performing tasks.
Palavras-chave:
Applications, Verification, Validation and Test of Systems
Referências
H. Mao H. Feng F. Zhang X. Zhao "Reconnaissance and strike integrated uav’s path planning in autonomous attack" 2016 IEEE Chinese Guidance Navigation and Control Conference (CGNCC) pp. 282-288 2016.
K. Ramesh A. S. Murthy J. Senthilnath S. Omkar "Automatic detection of powerlines in UAV remote sensed images" CATCON pp. 17-21 2015.
T. Kersnovski F. Gonzalez K. Morton "A uav system for autonomous target detection and gas sensing" 2017 IEEE aerospace conference pp. 1-12 2017.
P. Grippa "Decision making in a uav-based delivery system with impatient customers" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5034-5039 2016.
M. Ghazal Y. Al Khalil H. Hajjdiab "Uav-based remote sensing for vegetation cover estimation using ndvi imagery and level sets method" 2015 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT) pp. 332-337 2015.
B. H. Y. Alsalam K. Morton D. Campbell F. Gonzalez "Autonomous uav with vision based on-board decision making for remote sensing and precision agriculture" 2017 IEEE Aerospace Conference pp. 1-12 2017.
C. Holness T. Matthews K. Satchell E. C. Swindell "Remote sensing archeological sites through unmanned aerial vehicle (uav) imaging" IGARSS pp. 6695-6698 2016.
F. Heintz P. Rudol P. Doherty "From images to traffic behaviora uav tracking and monitoring application" 2007 10th International Conference on Information Fusion pp. 1-8 2007.
P. E. Ross "Open-source drones for fun and profit" IEEE Spectrum vol. 51 no. 3 pp. 54-59 2014.
J. d. S. Barros T. Oliveira V. Nigam A. V. Brito "A framework for the analysis of uav strategies using co-simulation" VI Brazilian Symposium on Computing Systems Engineering (SBESC) pp. 9-15 Nov 2016.
J. de Sousa Barros T. O. Freitas V. Nigam A. V. Brito "Analysis of design strategies for unmanned aerial vehicles using co-simulation" Design Automation for Embedded Systems vol. 21 no. 3–4 pp. 157-172 2017.
A. V. Brito A. V. Negreiros C. Roth O. Sander J. Becker "Development and evaluation of distributed simulation of embedded systems using ptolemy and hla" Proceedings of the 2013 IEEE/ACM 17th International Symposium on Distributed Simulation and Real Time Applications pp. 189-196 2013.
Sitl simulator (software in the loop) 2018 [online] Available: http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html.
"IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA)– Federate Interface Specification" IEEE Std 1516.1-2010 (Revision of IEEE Std 1516.1-2000) pp. 1-378 Aug 2010.
J. J. Corner G. B. Lamont "Parallel simulation of uav swarm scenarios" Proceedings of the 36th Conference on Winter Simulation ser. WSC ‘04. Winter Simulation Conference pp. 355-363 2004.
B. A. Kadrovach "A communications modeling system for swarm-based sensors" Tech. Rep. 2003.
Y. Wei G. R. Madey M. B. Blake "Agent-based simulation for uav swarm mission planning and execution" in ADSS ser. ADSS 13 San Diego CA USA:Society for Computer Simulation International pp. 2:1-2:8 2013.
N. R. Zema A. Trotta G. Sanahuja E. Natalizio M. D. Felice L. Bononi "Cuscus: Communications-control distributed simulator" CCNC Jan 2017.
W. G. La S. Park H. Kim "D-muns: Distributed multiple uavs’ network simulator" ICUFN pp. 15-17 2017.
I. A. Mason V. Nigam C. Talcott A. Brito "A framework for analyzing adaptive autonomous aerial vehicles" International Conference on Software Engineering and Formal Methods pp. 406-422 2017.
M. Zhang H. Qin M. Lan J. Lin S. Wang K. Liu F. Lin B. M. Chen "A high fidelity simulator for a quadrotor uav using ros and gazebo" IECON 2015-41st Annual Conference of the IEEE Industrial Electronics Society pp. 002 846-002 851 2015.
C. Ptolemaeus System Design Modeling and Simulation using Ptolemy II 2014 [online] Available: http://ptolemy.org/books/Systems.
C. Gomes C. Thule D. Broman P. G. Larsen H. Vangheluwe "Co-simulation: State of the art" 2017.
et al. "Ieee standard for modeling and simulation (m & s) high level architecture (hla)-framework and rules" pp. i-22 2000.
"Ieee standard for modeling and simulation (m&s) high level architecture (hla)—object model template (omt) specification" IEEE No. 1516.2-2010 2010.
K. Ramesh A. S. Murthy J. Senthilnath S. Omkar "Automatic detection of powerlines in UAV remote sensed images" CATCON pp. 17-21 2015.
T. Kersnovski F. Gonzalez K. Morton "A uav system for autonomous target detection and gas sensing" 2017 IEEE aerospace conference pp. 1-12 2017.
P. Grippa "Decision making in a uav-based delivery system with impatient customers" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5034-5039 2016.
M. Ghazal Y. Al Khalil H. Hajjdiab "Uav-based remote sensing for vegetation cover estimation using ndvi imagery and level sets method" 2015 IEEE International Symposium on Signal Processing and Information Technology (ISSPIT) pp. 332-337 2015.
B. H. Y. Alsalam K. Morton D. Campbell F. Gonzalez "Autonomous uav with vision based on-board decision making for remote sensing and precision agriculture" 2017 IEEE Aerospace Conference pp. 1-12 2017.
C. Holness T. Matthews K. Satchell E. C. Swindell "Remote sensing archeological sites through unmanned aerial vehicle (uav) imaging" IGARSS pp. 6695-6698 2016.
F. Heintz P. Rudol P. Doherty "From images to traffic behaviora uav tracking and monitoring application" 2007 10th International Conference on Information Fusion pp. 1-8 2007.
P. E. Ross "Open-source drones for fun and profit" IEEE Spectrum vol. 51 no. 3 pp. 54-59 2014.
J. d. S. Barros T. Oliveira V. Nigam A. V. Brito "A framework for the analysis of uav strategies using co-simulation" VI Brazilian Symposium on Computing Systems Engineering (SBESC) pp. 9-15 Nov 2016.
J. de Sousa Barros T. O. Freitas V. Nigam A. V. Brito "Analysis of design strategies for unmanned aerial vehicles using co-simulation" Design Automation for Embedded Systems vol. 21 no. 3–4 pp. 157-172 2017.
A. V. Brito A. V. Negreiros C. Roth O. Sander J. Becker "Development and evaluation of distributed simulation of embedded systems using ptolemy and hla" Proceedings of the 2013 IEEE/ACM 17th International Symposium on Distributed Simulation and Real Time Applications pp. 189-196 2013.
Sitl simulator (software in the loop) 2018 [online] Available: http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html.
"IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA)– Federate Interface Specification" IEEE Std 1516.1-2010 (Revision of IEEE Std 1516.1-2000) pp. 1-378 Aug 2010.
J. J. Corner G. B. Lamont "Parallel simulation of uav swarm scenarios" Proceedings of the 36th Conference on Winter Simulation ser. WSC ‘04. Winter Simulation Conference pp. 355-363 2004.
B. A. Kadrovach "A communications modeling system for swarm-based sensors" Tech. Rep. 2003.
Y. Wei G. R. Madey M. B. Blake "Agent-based simulation for uav swarm mission planning and execution" in ADSS ser. ADSS 13 San Diego CA USA:Society for Computer Simulation International pp. 2:1-2:8 2013.
N. R. Zema A. Trotta G. Sanahuja E. Natalizio M. D. Felice L. Bononi "Cuscus: Communications-control distributed simulator" CCNC Jan 2017.
W. G. La S. Park H. Kim "D-muns: Distributed multiple uavs’ network simulator" ICUFN pp. 15-17 2017.
I. A. Mason V. Nigam C. Talcott A. Brito "A framework for analyzing adaptive autonomous aerial vehicles" International Conference on Software Engineering and Formal Methods pp. 406-422 2017.
M. Zhang H. Qin M. Lan J. Lin S. Wang K. Liu F. Lin B. M. Chen "A high fidelity simulator for a quadrotor uav using ros and gazebo" IECON 2015-41st Annual Conference of the IEEE Industrial Electronics Society pp. 002 846-002 851 2015.
C. Ptolemaeus System Design Modeling and Simulation using Ptolemy II 2014 [online] Available: http://ptolemy.org/books/Systems.
C. Gomes C. Thule D. Broman P. G. Larsen H. Vangheluwe "Co-simulation: State of the art" 2017.
et al. "Ieee standard for modeling and simulation (m & s) high level architecture (hla)-framework and rules" pp. i-22 2000.
"Ieee standard for modeling and simulation (m&s) high level architecture (hla)—object model template (omt) specification" IEEE No. 1516.2-2010 2010.
Publicado
19/11/2019
Como Citar
SILVA, Leydson; BARROS, José de Sousa; SALVADOR, Ewerton ; NIGAM, Vivek ; BRITO, Alisson .
A Multi-UAV Co-Simulation Environment for Safety and Performance Analysis. In: SIMPÓSIO BRASILEIRO DE ENGENHARIA DE SISTEMAS COMPUTACIONAIS (SBESC), 9. , 2019, Natal.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2019
.
p. 161-168.
ISSN 2237-5430.
