How to Start Networked Robotics Projects Using NS3

To start a Networked Robotics project in NS3 has series of steps to replicate a network, which permits several robots or robotic systems to interact and work together. Networked robotics is typically utilized in applications such as swarm robotics, remote-controlled robots, and autonomous mobile robots within areas like search-and-rescue, industrial automation, and observing.

Steps to Start Networked Robotics Project in NS3

  1. Define Project Objectives and Scope
  • Identify Use Case: Detect the main application like:
    • Swarm Robotics: We replicate a set of robots, which organise for collective tasks with each other.
    • Remote Control: For teleoperation, Network simulation in which commands are transmitted from a control center to robots.
    • Autonomous Coordination: Robots communicate independently accomplishing tasks such as mapping an area or determining targets.
  • Decide on Key Metrics: Select performance parameters like latency, throughput, packet delivery ratio, energy consumption (for battery-powered robots), and scalability.
  1. Install and Set Up NS3
  • Download NS3: We go to official NS3 website to download the new version of it.
  • Install NS3: We adhere to the installation guide as per operating system.
  • Verify Installation: Then, execute an example script for simulation, making sure that all dependencies is functioning properly.
  1. Understand NS3 Modules Relevant to Networked Robotics
  • Wireless Communication Modules:
    • WiFi Module: It is generally utilized for interaction among the robots in a specific range.
    • LTE Module: For longer-range interaction in which the robots associate through a cellular network.
    • 802.15.4/ZigBee Module: This module is appropriate for low-power interaction with a smaller data rate that is optimal for low-energy scenarios within robot swarms.
  • Mobility Models:
    • ConstantPositionMobilityModel: It is used for stationary robots or fixed base stations.
    • RandomWalk2dMobilityModel or RandomWaypointMobilityModel: For robots, which arbitrarily travel in specific area.
    • GaussMarkovMobilityModel: For smoother and additional controlled movement, to replicate the autonomous robot navigation.
  • Energy Models:
    • BasicEnergySource and WifiRadioEnergyModel: It is helpful for battery-powered robots, according to the network activity where we require monitoring energy consumption.
  • Routing and Internet Stack:
    • Ad-Hoc Routing Protocols: We make use of protocols such as AODV or OLSR within robot-to-robot interaction for dynamic routing.
    • IPv4 and IPv6 Support: For addressing and routing in the network.
  1. Design the Network Topology
  • Create Nodes for Each Robot:
    • Every single node denotes a robot that prepared with interaction modules like WiFi or LTE and mobility capabilities.
  • Layout and Deployment:
    • Organize nodes within an area, which denotes the environment in which the robots will be functioned.
    • Define boundary conditions if utilising mobility such as confined spaces for indoor robotics or an open field for outdoor operations.
  1. Implement Communication and Protocols
  • Ad-Hoc Network Configuration:
    • Configure WiFi permitting direct robot-to-robot interaction without central infrastructure in ad-hoc mode.
    • For reliable and efficient interaction, depends on the robot needs we can set MAC and PHY layers.
  • Data Exchange Patterns:
    • Broadcast Communication: It is helpful for swarm robotics in which every robot want to distribute information like place or task status.
    • Direct Messaging: For directed control or status messages in which each robot only interacts with a certain robot.
  • Implement Cooperative Applications:
    • Swarm Coordination: Replicate coordination tasks like collective movement or area coverage to utilize applications.
    • Data Collection and Aggregation: Configure applications, which replicate the sensors on each robot to gather information and send it to a central node or other robots.
  1. Set Up Robot Mobility and Application Layer Communication
  • Define Mobility Patterns:
    • Replicate the robotic movement to utilize mobility models. For example, RandomWaypointMobilityModel can be replicated robots to travel among the random points.
    • For speed and direction changes, configure metrics that are realistic for the robotic application.
  • Application Layer Communication:
    • For simple ping-like interaction using UdpEcho.
    • For periodic data exchange, make use of OnOffApplication to denote the sensor data or control signals.
    • Make custom applications for difficult tasks like autonomous decision-making or swarm consensus.
  1. Add Energy Constraints (if needed)
  • Battery Models:
    • Energy constraints are crucial for mobile robots. Replicate the battery usage as per a function of network activity to utilize BasicEnergySource and WifiRadioEnergyModel.
    • Modify metrics to design various battery capacities and consumption rates according to the interaction activity and movement.
  • Energy Harvesting (Optional):
    • For applications including self-recharging robots, configure an energy harvesting model, replicating solar or wireless charging.
  1. Define Key Performance Metrics
  • Latency: We estimate the time delay for interaction among the robots that particularly critical for real-time coordination.
  • Throughput: Measure data transmission rates, making sure those robots obtain the data they require.
  • Packet Delivery Ratio: We need to observe the packet success rates, making certain reliable interaction.
  • Energy Consumption: Monitor battery drain on robots, estimating the operational time.
  • Scalability: Experiment how inserting additional robots affects the network performance.
  1. Simulate and Analyze Results
  • Run Simulations:
    • Run diverse situation by different metrics such as the number of robots, mobility speed, and data exchange rates.
  • Collect Data:
    • Record interaction events, packet transmissions, and energy levels to utilize NS3’s tracing (AsciiTrace, PcapTrace, etc.).
  • Visualize Results:
    • Examine parameters such as latency, packet delivery, and energy consumption to utilize tools such as Matplotlib or Gnuplot.

Example Code Outline for a Networked Robotics Simulation in NS3

Below is a simple instance of configuring networked robots, which interact within an ad-hoc network:

#include “ns3/core-module.h”

#include “ns3/network-module.h”

#include “ns3/internet-module.h”

#include “ns3/wifi-module.h”

#include “ns3/mobility-module.h”

#include “ns3/aodv-module.h”

#include “ns3/applications-module.h”

#include “ns3/energy-module.h”

using namespace ns3;

int main(int argc, char *argv[]) {

// Step 1: Create nodes for robots

NodeContainer robotNodes;

robotNodes.Create(10);  // Simulate 10 robots

// Step 2: Configure WiFi in Ad-Hoc Mode

WifiHelper wifi;

wifi.SetStandard(WIFI_PHY_STANDARD_80211b);

YansWifiPhyHelper wifiPhy = YansWifiPhyHelper::Default();

YansWifiChannelHelper wifiChannel = YansWifiChannelHelper::Default();

wifiPhy.SetChannel(wifiChannel.Create());

WifiMacHelper wifiMac;

wifiMac.SetType(“ns3::AdhocWifiMac”);

NetDeviceContainer robotDevices = wifi.Install(wifiPhy, wifiMac, robotNodes);

// Step 3: Install Internet stack and routing protocols

AodvHelper aodv;

InternetStackHelper internet;

internet.SetRoutingHelper(aodv);

internet.Install(robotNodes);

Ipv4AddressHelper ipv4;

ipv4.SetBase(“10.1.1.0”, “255.255.255.0”);

Ipv4InterfaceContainer robotInterfaces = ipv4.Assign(robotDevices);

// Step 4: Set Up Mobility Model

MobilityHelper mobility;

mobility.SetPositionAllocator(“ns3::GridPositionAllocator”,

“MinX”, DoubleValue(0.0),

“MinY”, DoubleValue(0.0),

“DeltaX”, DoubleValue(10.0),

“DeltaY”, DoubleValue(10.0),

“GridWidth”, UintegerValue(5),

“LayoutType”, StringValue(“RowFirst”));

mobility.SetMobilityModel(“ns3::RandomWalk2dMobilityModel”,

“Bounds”, RectangleValue(Rectangle(-50, 50, -50, 50)));

mobility.Install(robotNodes);

// Step 5: Install Applications

uint16_t port = 8080;

OnOffHelper onoff(“ns3::UdpSocketFactory”, InetSocketAddress(Ipv4Address(“255.255.255.255”), port));

onoff.SetConstantRate(DataRate(“10kbps”));

ApplicationContainer apps;

for (uint32_t i = 0; i < robotNodes.GetN(); ++i) {

ApplicationContainer app = onoff.Install(robotNodes.Get(i));

app.Start(Seconds(1.0 + i * 0.1));

app.Stop(Seconds(10.0));

apps.Add(app);

}

PacketSinkHelper sink(“ns3::UdpSocketFactory”, InetSocketAddress(Ipv4Address::GetAny(), port));

apps = sink.Install(robotNodes);

apps.Start(Seconds(0.0));

apps.Stop(Seconds(10.0));

// Step 6: Enable Tracing (Optional)

wifiPhy.EnablePcap(“networked-robotics”, robotDevices);

// Step 7: Run the simulation

Simulator::Run();

Simulator::Destroy();

return 0;

}

Through this procedure, you can completely learn the concepts and simulation process with examples which was simulated and executed the Networked Robotics projects with the support of NS3 platform. If needed, we will present any details regarding this project.

Here’s your go to solution on  how to set up and run your project by  our personalized support. The team at phdprojects.org specializes in Networked Robotics Projects using the NS3 tool, so let us help you get everything configured perfectly with a quick rundown. We handle applications like swarm robotics, remote-controlled robots, and autonomous mobile robots.