Demo: Co-simulation of UAVs with INTO-CPS and PVSio-web

Abstract

This demo shows our ongoing work on the co-simulation of co-operative Unmanned Aerial Vehicles (UAVs). The work is based on the INTO-CPS co-simulation engine, which adopts the widely accepted Functional Mockup Interface (FMI) standard for co-simulation, and the PVSioweb prototyping tool, that extends a system simulator based on the PVS logic language with a web-based graphical interface. Simple scenarios of Quadcopters with assigned different tasks, such as rendez-vous and space coverage, are shown. We assumed a linearized dynamic model for Quadcopters formalized in OpenModelica, and a linearized set of equations for the flight control module written in C language. The co-ordination algorithm is modeled in PVS, while PVSio-web is used for graphical rendering of the co-simulation.