ACM Transactions on Computer Systems (TOCS)
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Ad-hoc On-Demand Distance Vector Routing
WMCSA '99 Proceedings of the Second IEEE Workshop on Mobile Computer Systems and Applications
Autonomous Robots
Experimental evaluation of wireless simulation assumptions
MSWiM '04 Proceedings of the 7th ACM international symposium on Modeling, analysis and simulation of wireless and mobile systems
Outdoor experimental comparison of four ad hoc routing algorithms
MSWiM '04 Proceedings of the 7th ACM international symposium on Modeling, analysis and simulation of wireless and mobile systems
MiNT-m: an autonomous mobile wireless experimentation platform
Proceedings of the 4th international conference on Mobile systems, applications and services
Measurement-based models of delivery and interference in static wireless networks
Proceedings of the 2006 conference on Applications, technologies, architectures, and protocols for computer communications
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
A survey on real-world implementations of mobile ad-hoc networks
Ad Hoc Networks
Adaptive task assignment for multiple mobile robots via swarm intelligence approach
Robotics and Autonomous Systems
A co-simulation platform for actuator networks
Proceedings of the 5th international conference on Embedded networked sensor systems
TraNS: realistic joint traffic and network simulator for VANETs
ACM SIGMOBILE Mobile Computing and Communications Review
An overview of the OMNeT++ simulation environment
Proceedings of the 1st international conference on Simulation tools and techniques for communications, networks and systems & workshops
Lessons from experimental MANET research
Ad Hoc Networks
Validation of the IEEE 802.11 MAC model in the ns3 simulator using the EXTREME testbed
Proceedings of the 3rd International ICST Conference on Simulation Tools and Techniques
Simulation of vehicular ad-hoc networks: Challenges, review of tools and recommendations
Computer Networks: The International Journal of Computer and Telecommunications Networking
Performance Evaluation of Wireless Mobile Ad-Hoc Network via NS-3 Simulator
NBIS '11 Proceedings of the 2011 14th International Conference on Network-Based Information Systems
Modeling and simulating ITS applications with iTETRIS
Proceedings of the 6th ACM workshop on Performance monitoring and measurement of heterogeneous wireless and wired networks
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Cunetsim: a new simulation framework for large scale mobile networks
Proceedings of the 5th International ICST Conference on Simulation Tools and Techniques
A performance and scalability evaluation of the ns-3 distributed scheduler
Proceedings of the 5th International ICST Conference on Simulation Tools and Techniques
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In networked multi-robot systems, communication plays a major role defining system's dynamics and performance. Unfortunately, existing multi-robot simulators do not provide advanced communication models. Therefore, given the intrinsic unreliability of wireless communications, significant differences might be observed between simulation and real-world results. Addressing these issues, we present RoboNetSim, an integrated simulation framework for communication-realistic simulation of networked multi-robot systems. RoboNetSim integrates multi-robot simulators with network simulators. We present two model implementations based on ARGoS at the robotic side, and NS-2 and NS-3 as network simulators. We evaluate the framework in terms of accuracy and computational performance, showing that it can efficiently simulate systems consisting of hundreds of robots. Using the Stage simulator as an example, we also show the integration of a robotic simulator with RoboNetSim by only adapting robot controllers, without the need to adapt the general code of the simulator. Finally, we demonstrate the effects of communication on mobile multi-robot systems. We consider two different case studies: a distributed coordination and task assignment scenario, and a coordinated mobility scenario. We compare realistic network simulation with simplified communication models and algorithms, and we study the resulting behavior and performance of the multi-robot system and the impact of different parameters.