Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2

Key points

• A robot that offloads its control loop to the network carries the receiver with it, so link quality is decided by where it goes.1
• Simulating this requires both a physics engine and a site-specific propagation model at once; to our knowledge no simulator natively unifies both, with existing couplings of the two limited to offline analyses.1
• Sionna ray-traces the base-station-to-robot channel over the exact geometry Isaac Sim simulates on, rather than modeling it stochastically, and feeds channel states back into the control loop in real time.1
• To showcase the framework's utility, we implement a wireless-aware navigation application in an OpenStreetMap(OSM)-derived SUTD campus twin with two Nova Carter robots: the closed-loop planner eliminates communication outage at only +7.4% traversal time over the shortest-path baseline (which spends 7.9 s of its 81.2 s run disconnected).1

Sources (1)

• [1]Demo: Closed-Loop Sionna-Isaac Sim Co-Simulation Framework for Wireless-Aware Robot Navigation over ROS 2
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 6, 04:17 PM

  We demonstrate a real-time co-simulation framework coupling NVIDIA Isaac Sim and NVIDIA Sionna over ROS 2 that closes the perception-action-communication (PAC) loop between them.

  A robot that offloads its control loop to the network carries the receiver with it, so link quality is decided by where it goes.

Extractive summary: sentences quoted from the sources.