RAMS: a fast, low-fidelity, multiple agent discrete-event simulator

Authors:
Tim Bakker;Garrett L. Ward;Siva T. Patibandla;Robert H. Klenke
Affiliations:
Virginia Commonwealth University, Richmond, VA;Virginia Commonwealth University, Richmond, VA;Virginia Commonwealth University, Richmond, VA;Virginia Commonwealth University, Richmond, VA
Venue:
Proceedings of the 2013 Summer Computer Simulation Conference
Year:
2013

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Abstract

RAMS is a low-fidelity discrete-event simulator, created for simulating multiple agents in a single environment in faster than real-time. The simulator is designed to be modular and versatile for use in future research in the area of coordinated teams of Unmanned Aircraft Systems (UAS) and other robotic vehicles. A low-fidelity wireless network module is incorporated for simulating network connectivity between agents. Algorithms for controlling the agents can be dynamically loaded in a wrapper, minimizing the effort required to port the algorithms from the simulator to an actual hardware platform. The agent model consists of a low-fidelity motion model based on simple flight dynamics combined with dynamically loaded guidance and control algorithms. The RAMS simulator differs for other simulation efforts in this area by providing a low to medium fidelity agent model and network simulation for use in rapid evaluation of high-level control and coordination algorithms. This paper discusses the motivation, basic architectural design, and implementation of the RAMS simulator.