Conference Contribution

Holistic Simulation of Mobile Robot and Sensor Network Applications Using TrueTime

Karl-Erik Årzén, Martin Ohlin, Anton Cervin, Peter Alriksson, Dan Henriksson


The RUNES project defines a complex road tunnel scenario involving multiple mobile robots navigating in 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. The various models are described in detail, and some simulation results obtained from the complete model are presented.


sensor networks, mobile robots, simulation tools

In Proceedings of the European Control Conference, Kos, Greece, July 2007.

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