Gwanhyeok Kim, Hanjin Kim, Junhyung Kwon, Beomsu Ha, Seok Haeng Huh, Jee Hoon Koo, Ho Jung Sohn, Won-Tae Kim

KIPS Transactions on Computer and Communication Systems, Vol. 12, No. 1, pp. 9-16, Jan. 2023
https://doi.org/10.3745/KTCCS.2023.12.1.9,   PDF Download:   Full Text
Keywords: Digital Twin, HILS(Hardware-in-the-loop Simulation), Swarm Robot, Network Optimization
Abstract

Robots are expected to expand their scope of application to the military field and take on important missions such as surveillance and enemy detection in the coming future warfare. Swarm robots can perform tasks that are difficult or time-consuming for a single robot to be performed more efficiently due to the advantage of having multiple robots. Swarm robots require mutual recognition and collaboration. So they send and receive vast amounts of data, making it increasingly difficult to verify SW. Hardware-in-the-loop simulation used to increase the reliability of mission verification enables SW verification of complex swarm robots, but the amount of verification data exchanged between the HILS device and the simulator increases exponentially according to the number of systems to be verified. So communication overload may occur. In this paper, we propose a digital twin-based communication optimization technique to solve the communication overload problem that occurs in mission verification of swarm robots. Under the proposed Digital Twin based Multi HILS Framework, Network DT can efficiently allocate network resources to each robot according to the mission scenario through the Network Controller algorithm, and can satisfy all sensor generation rates required by individual robots participating in the group. In addition, as a result of an experiment on packet loss rate, it was possible to reduce the packet loss rate from 15.7% to 0.2%.

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