@InProceedings{Pecker-Marcosig2018,
  author    = {Pecker-Marcosig, Ezequiel and Giribet, Juan Ignacio and Castro, Rodrigo},
  title     = {{DEVS-over-ROS (DOVER): A framework for simulation-driven embedded control of robotic systems based on model continuity}},
  booktitle = {2018 Winter Simulation Conference (WSC)},
  year      = {2018},
  pages     = {1250--1261},
  address   = {Gothenburg, Sweden},
  month     = dec,
  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. 1},
  doi       = {10.1109/WSC.2018.8632504},
  file      = {::PDF},
}

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