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

  • Autori: Palmieri, Maurizio; Bernardeschi, Cinzia; Domenici, Andrea; Fagiolini, Adriano
  • Anno di pubblicazione: 2018
  • Tipologia: Contributo in atti di convegno pubblicato in volume
  • OA Link:


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.