MEbots: Integrating a RISC-V Virtual Platform with a Robotic Simulator for Energy-aware Design
MEbots: Integrating a RISC-V Virtual Platform with a Robotic Simulator for Energy-aware Design
著者: Giovanni Pollo, Mohamed Amine Hamdi, Matteo Risso, Lorenzo Ruotolo, Pietro Furbatto, Matteo Isoldi, Yukai Chen, Alessio Burrello, Enrico Macii, Massimo Poncino, Daniele Jahier Pagliari, Sara Vinco
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Virtual Platforms (VPs) enable early software validation of autonomous systems' electronics, reducing costs and time-to-market. While many VPs support both functional and non-functional simulation (e.g., timing, power), they lack the capability of simulating the environment in which the system operates. In contrast, robotics simulators lack accurate timing and power features. This twofold shortcoming limits the effectiveness of the design flow, as the designer can not fully evaluate the features of the solution under development. This paper presents a novel, fully open-source framework bridging this gap by integrating a robotics simulator (Webots) with a VP for RISC-V-based systems (MESSY). The framework enables a holistic, mission-level, energy-aware co-simulation of electronics in their surrounding environment, streamlining the exploration of design configurations and advanced power management policies.