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Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2.

Francisco José Mañas-Álvarez1, María Guinaldo1, Raquel Dormido1

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Summary
This summary is machine-generated.

This study evaluates cyber-physical systems (CPSs) scalability using Gazebo and Webots frameworks for multi-agent robot formation tasks. Results show Robot Operating System (ROS) 2 is feasible for large-scale systems with real and virtual robots.

Keywords:
ROS 2digital twinformation controlmulti-robot system

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Computer Science

Background:

  • Cyber-physical systems (CPSs) are increasingly complex with more agents, posing scalability challenges for control and communication.
  • Evaluating control strategies for large-scale multi-agent systems requires efficient and cost-effective tools.
  • Heterogeneous robot multi-agent systems performing cooperative tasks necessitate robust simulation frameworks.

Purpose of the Study:

  • To evaluate the performance and scalability of cyber-physical systems (CPSs) as the number of agents increases.
  • To compare two open-source simulation frameworks, Gazebo and Webots, for large-scale multi-agent system development.
  • To analyze the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for heterogeneous robot systems.

Main Methods:

  • Utilized Gazebo and Webots open-source simulation tools to create frameworks for heterogeneous robot multi-agent systems.
  • Implemented an event-based control strategy for rigid formations, varying the number of agents (Crazyflie 2.1, Khepera IV).
  • Assessed system scalability using metrics: formation error, CPU usage, and real-time vs. simulation time ratio.

Main Results:

  • Demonstrated the feasibility of Robot Operating System (ROS) 2 for distributed multi-agent systems with both real and virtual robots, irrespective of agent count or type.
  • Identified differing performance behaviors between Gazebo and Webots as the number of virtual agents increased, particularly in specific parameters.
  • Validated the use of combined real and virtual agents in simulation to reduce costs and enable scalability testing.

Conclusions:

  • Gazebo and Webots provide viable platforms for evaluating the scalability of multi-agent cyber-physical systems.
  • Robot Operating System (ROS) 2 is a robust solution for distributed control in large-scale, heterogeneous robotic systems.
  • Discrepancies in simulation tool performance necessitate careful consideration when selecting frameworks for specific multi-agent system applications.