Method for Design and Performance Evaluation of Ad Hoc Networked Mobile Robotic Systems using OMNET++

:Using a team of mobile robots connected through ad hoc networks is becoming increasingly attractive for a myriad of applications, including search, rescue and surveillance. In this paper, we present a method for the design and performance evaluation of complex wireless networked control systems, focusing on cooperative control strategy in robotic tasks. It is described a simulation architecture and specific developments that are required to simulate cooperative robotic systems over a mobile ad hoc network (MANET), regarding individual control, cooperative control, network model and topology control aspects. We assess the capabilities of the proposed method using OMNET++/INET simulator and a rendezvous task with topology control over a MANET. The rendez-vous task is implemented as a consensus problem and is solved by receding horizon control. The resulting simulation shows that not only it is possible to simulate this complex set of algorithms on OMNeT++, but if an organized simulation process is followed, it may allow a better planning of experimental cases to achieve more meaningful results.