CORNET: A Co-Simulation Middleware for Robot Networks

This paper describes CORNET, a co-simulation middleware for applications involving multi-robot systems like a network of Unmanned Aerial Vehicle (UAV) systems. Design of such systems requires knowledge of the flight dynamics of UAVs and the communication links connecting UAVs with each other or with the ground control station. Besides, UAV networks are dynamic and distinctive from other ad-hoc networks and require protocols that can adapt to high-mobility, dynamic topology and changing link quality in power constrained resource platforms. Therefore, it is necessary to co-design the UAV path planning algorithms and the communication protocols. The proposed co-simulation framework integrates existing tools to simulate flight dynamics and network related aspects. Gazebo with robot operating system (ROS) is used as a physical system UAV simulator and NS-3 is used as a network simulator, to jointly capture the cyber-physical system (CPS) aspects of the multi-UAV systems. A particular aspect we address is on synchronizing time and position across the two simulation environments, and we provide APIs to allow easy migration of the algorithms to real platforms.