6533b82bfe1ef96bd128d893

RESEARCH PRODUCT

Demo: Co-simulation of UAVs with INTO-CPS and PVSio-web

Cinzia BernardeschiAdriano FagioliniAndrea DomeniciMaurizio PalmieriMaurizio Palmieri

subject

Quadcopterbusiness.industryComputer scienceComputer Science (all)Theoretical Computer Science; Computer Science (all)Co-simulationModelicaTheoretical Computer ScienceRendering (computer graphics)Functional Mock-up InterfacebusinessSimulationLogic programmingGraphical user interface

description

This demo shows our ongoing work on the co-simulation of co-operative Unmanned Aerial Vehicles (UAVs). The work is based on the INTO-CPS co-simulation engine, which adopts the widely accepted Functional Mockup Interface (FMI) standard for co-simulation, and the PVSioweb prototyping tool, that extends a system simulator based on the PVS logic language with a web-based graphical interface. Simple scenarios of Quadcopters with assigned different tasks, such as rendez-vous and space coverage, are shown. We assumed a linearized dynamic model for Quadcopters formalized in OpenModelica, and a linearized set of equations for the flight control module written in C language. The co-ordination algorithm is modeled in PVS, while PVSio-web is used for graphical rendering of the co-simulation.

yearjournalcountryeditionlanguage
2018-01-01
https://doi.org/10.1007/978-3-030-04771-9_5