ABSTRACT
This chapter presents a progressive simulation-based design framework that treats simulation as a driving force for all stages of a design process evolving from the model world to the real world. It focuses on multirobot systems as the application context. The chapter presents the background of Discrete Event System Specification (DEVS) for real-time system modeling and development, and the related work on simulation-based design. It also presents the progressive simulation-based design framework that includes model continuity, robot-in-the-loop simulation, and the progressive simulation-based design process. The chapter describes this multirobot dynamical team formation example and the test bed where the system was developed. It shows experiments results to demonstrate the effectiveness of the design framework. The chapter reviews the background of DEVS for real-time system modeling and development and some related work on simulation-based design. It presents the dynamical team formation multirobot system and the robot test bed where the multirobot system was developed.
