Distributed simulation with Morse and HLA

Presentation outline

• Why distributed simulation ?
• A short introduction to HLA
• MORSE and HLA

Simulating multi-robot scenario

Morse multi-node

Increasing realism simulation

Consider a simple simulation of a shuttle

• Simple dynamic of the vehicle
• Visual perception
• Lidar perception
• Radar perception

Increasing realism simulation

Consider a more realist simulation of a shuttle

• Ground / wheel interaction
• Suspension simulation
• Multi-echo lidar perception
• GPS reception model
• 3G reception model
• Traffic simulation
• Weather simulation

Increasing realism simulation

• Developing accurate model for each problematic is too hard !
• Specialized simulators exist
• So let's connect them !

HLA : A general purpose architecture for distributed simulation systems

Introducing HLA

• A standard defining
  • a way to describe a distributed simulation
  • interactions between runtime and simulators
  • rules that each simulator must comply with
• Several simulators are HLA-compliant
• Numerous RTI implementation exists (including a few open-source)

Describing a federation

• Data Types
• Objects : persistent thing over time
• Interactions : non-persistent thing (discrete in time)
• Modelling simulation interface is an hard problem !

Discovering objects

Exchanging data between simulator

Time management : periodic-based

Time management : event-based

Time management : synchronisation-point

Data Distribution Management

• Allow to define where data is relevant for a federate object
• Advanced relevance filtering

Morse and HLA

• Work developed at ISAE-SUPAERO, using CERTI implementation
• Morse is now capable:
  • synchronise time with RTI (period-based)
  • synchronise "static" objects attributes
• Missing points:
  • Interaction management
  • Really dynamic object
  • Data Distribution Management

Implementation details

• HLA as a standard middleware
• Main loop synchronizes (when needed) with RTIg
• External objects as proxy object
• Multi-nodes has been rewritten

Instantiation

Conclusion

• Distributed simulation is a must-have to handle complex and precise simulation
• HLA is an highly used standard to develop distributed simulations
• Think about distributed interfaces for your simulator !
• Morse is now able to enter in HLA federation !
• Have more fun with distributed simulation

Questions?