Implementation of a common simulation framework for projects on Autonomous Systems

• Grant number: 23/12242-0
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: October 01, 2023
• End date: September 30, 2024
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computing Methodologies and Techniques
• Principal Investigator: Carlos Henrique Costa Ribeiro
• Grantee: Eduardo Santos Guerra
• Host Institution: Divisão de Ciência da Computação (IEC). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil
• Company: Ministério da Defesa (Brasil). Instituto Tecnológico de Aeronáutica (ITA). Divisão de Engenharia Mecânica (IEM)
• Associated research grant: 21/11258-5 - Engineering Research Center for the Aerial Mobility of the Future (ERC-AMF), AP.PCPE

Abstract

Development of complex system require that separate teams working on different software components must have a way to evaluate the performance of their components in an integrated manner. Model-based design is the state-of-the-art development technique for attaining this goal, and in order to enable it the teams that will be working on the software components must be provided with a common software framework for integration of the different techniques that must be developed as part of the overall research project. Such framework must be operational as soon as possible, to avoid rework, and in this sense it is important that the CPE-MAF Research Center must addopt the same framework in place at EMBRAER development process to facilitate communication between the teams and reuse of tools and solutions. This project will then propose a methodology for using EMBRAER Virtual Systems Integration (VSI) tools at the CPE-MAF Research Center, allowing for rapid testing with different configurations depending on test needs. An additional benefit of using this infrastructure is the possibility of connecting any development to the SIVOR simulator, a previous EMBRAER-ITA-FAPESP partnership project, that uses the same infrastructure. This will greatly leverage the possibilities for humand in the loop testing. Overall, the steps of the project are: a) to review the Virtual Systems Integration framework used by EMBRAER; b) to select and implement a generic rotorcraft and fixed wing models and their associated autopilots in Simulink and run it into the VSI framework; c) to evaluate and adapt (if possible) Microsoft AirSim or other free sensor/perception simulation solution into the EMBRAER VSI infrastructure; d) to deploy the infrastructure at the CPE-MAF Research Center autonomy lab; e) to produce associated documentation to facilitate control models and software parts interfaces control and for training of the framework users.