@article{pecker-marcosig_devs-over-ros_2018,

title = {DEVS-over-ROS (Dover): A framework for simulation-driven embedded control of robotic systems based on model continuity},

author = {Ezequiel Pecker-Marcosig and Juan I. Giribet and Rodrigo Castro},

doi = {10.1109/WSC.2018.8632504},

issn = {08917736},

year  = {2018},

date = {2018-01-01},

journal = {Proceedings - Winter Simulation Conference},

volume = {2018-December},

pages = {1250–1261},

abstract = {Designing hybrid controllers for cyber-physical systems raises the need to interact with embedded platforms, robotic applications being a paradigmatic example. This can become a difficult, time consuming and error-prone task for non-specialists as it demands for background on low-level software/hardware interfaces often falling beyond the scope of control designers. We propose a simulation-driven methodology and tool for designing hybrid controllers based on a model continuity approach. The simulation model of a controller should evolve transparently from a desktop-based mocking up environment until its final embedded target without the need of intermediate adaptations. DEVS-over-ROS relies on the DEVS framework for robust modeling and real-time simulation of hybrid controllers, and on the ROS middleware for flexible abstraction of software/hardware interfaces for sensors and actuators. We successfully tested DoveR in a case study where a custom-made crafted robotic system is built concurrently with the design of its controller.},

note = {ISBN: 9781538665725 

Publisher: Institute of Electrical and Electronics Engineers Inc.},

keywords = {DEVS, Model continuity, PowerDEVS, Robotic Operating System (ROS)},

pubstate = {published},

tppubtype = {article}

}