Holistic simulation of mobile robot and sensor network applications using TrueTime

摘要

The RUNES project defines a complex road tunnel scenario involving multiple mobile robots navigating in a sensor network environment. In this paper, a TrueTime simulation model of the tunnel scenario is developed. The TrueTime simulator allows concurrent simulation of the physical robots and their environment, the software in the nodes, the radio communication, the network routing, and the ultra-sound navigation system.