A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments

Autores
Saldarriaga Mesa, Brayan Javier; Varela Aldás, José; Roberti, Flavio; Toibero, Juan Marcos
Año de publicación
2025
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Virtual environment simulations have gained great importance in the field of robotics byenabling the validation and optimization of control algorithms before their implementationon real platforms. However, the construction of accurate digital models is limited notonly by the lack of detailed characterization of the components but also by the uncertaintyintroduced by the physics engine and the plugins used in the simulation. Unlike otherworks, which attempted to model each element of the robot in detail and rely on thephysics engine to reproduce its behavior, this paper proposes a methodology based onmodel following. The proposed architecture forces the simulated robot to replicate thedynamics of the real robot without requiring exactly the same physical parameters. Theexperimental validation was carried out on two unmanned surface vehicle (USV) platformswith different dynamic parameters and, therefore, different responses to excitation signals,demonstrating that the proposed approach enables a drastic reduction in error. In particular,RMSE and MAE were reduced by more than 98%, with R2 values close to 1.0, demonstratingan almost perfect correspondence between the real and simulated dynamics.
Fil: Saldarriaga Mesa, Brayan Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
digital models
modeling and control systems
mobile robots
design methodology
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/283580
Acceder
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network_name_str CONICET Digital (CONICET)
spelling A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual EnvironmentsSaldarriaga Mesa, Brayan JavierVarela Aldás, JoséRoberti, FlavioToibero, Juan Marcosdigital modelsmodeling and control systemsmobile robotsdesign methodologyhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2Virtual environment simulations have gained great importance in the field of robotics byenabling the validation and optimization of control algorithms before their implementationon real platforms. However, the construction of accurate digital models is limited notonly by the lack of detailed characterization of the components but also by the uncertaintyintroduced by the physics engine and the plugins used in the simulation. Unlike otherworks, which attempted to model each element of the robot in detail and rely on thephysics engine to reproduce its behavior, this paper proposes a methodology based onmodel following. The proposed architecture forces the simulated robot to replicate thedynamics of the real robot without requiring exactly the same physical parameters. Theexperimental validation was carried out on two unmanned surface vehicle (USV) platformswith different dynamic parameters and, therefore, different responses to excitation signals,demonstrating that the proposed approach enables a drastic reduction in error. In particular,RMSE and MAE were reduced by more than 98%, with R2 values close to 1.0, demonstratingan almost perfect correspondence between the real and simulated dynamics.Fil: Saldarriaga Mesa, Brayan Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; EcuadorFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaMDPI2025-09info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/283580Saldarriaga Mesa, Brayan Javier; Varela Aldás, José; Roberti, Flavio; Toibero, Juan Marcos; A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments; MDPI; Robotics; 14; 9; 9-2025; 1-172218-6581CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2218-6581/14/9/124info:eu-repo/semantics/altIdentifier/doi/10.3390/robotics14090124info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2026-08-25T14:34:14Zoai:ri.conicet.gov.ar:11336/283580instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982026-08-25 14:34:14.63CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
title A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
spellingShingle A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
Saldarriaga Mesa, Brayan Javier
digital models
modeling and control systems
mobile robots
design methodology
title_short A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
title_full A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
title_fullStr A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
title_full_unstemmed A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
title_sort A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments
dc.creator.none.fl_str_mv Saldarriaga Mesa, Brayan Javier
Varela Aldás, José
Roberti, Flavio
Toibero, Juan Marcos
author Saldarriaga Mesa, Brayan Javier
author_facet Saldarriaga Mesa, Brayan Javier
Varela Aldás, José
Roberti, Flavio
Toibero, Juan Marcos
author_role author
author2 Varela Aldás, José
Roberti, Flavio
Toibero, Juan Marcos
author2_role author
author
author
dc.subject.none.fl_str_mv digital models
modeling and control systems
mobile robots
design methodology
topic digital models
modeling and control systems
mobile robots
design methodology
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv Virtual environment simulations have gained great importance in the field of robotics byenabling the validation and optimization of control algorithms before their implementationon real platforms. However, the construction of accurate digital models is limited notonly by the lack of detailed characterization of the components but also by the uncertaintyintroduced by the physics engine and the plugins used in the simulation. Unlike otherworks, which attempted to model each element of the robot in detail and rely on thephysics engine to reproduce its behavior, this paper proposes a methodology based onmodel following. The proposed architecture forces the simulated robot to replicate thedynamics of the real robot without requiring exactly the same physical parameters. Theexperimental validation was carried out on two unmanned surface vehicle (USV) platformswith different dynamic parameters and, therefore, different responses to excitation signals,demonstrating that the proposed approach enables a drastic reduction in error. In particular,RMSE and MAE were reduced by more than 98%, with R2 values close to 1.0, demonstratingan almost perfect correspondence between the real and simulated dynamics.
Fil: Saldarriaga Mesa, Brayan Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description Virtual environment simulations have gained great importance in the field of robotics byenabling the validation and optimization of control algorithms before their implementationon real platforms. However, the construction of accurate digital models is limited notonly by the lack of detailed characterization of the components but also by the uncertaintyintroduced by the physics engine and the plugins used in the simulation. Unlike otherworks, which attempted to model each element of the robot in detail and rely on thephysics engine to reproduce its behavior, this paper proposes a methodology based onmodel following. The proposed architecture forces the simulated robot to replicate thedynamics of the real robot without requiring exactly the same physical parameters. Theexperimental validation was carried out on two unmanned surface vehicle (USV) platformswith different dynamic parameters and, therefore, different responses to excitation signals,demonstrating that the proposed approach enables a drastic reduction in error. In particular,RMSE and MAE were reduced by more than 98%, with R2 values close to 1.0, demonstratingan almost perfect correspondence between the real and simulated dynamics.
publishDate 2025
dc.date.none.fl_str_mv 2025-09
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/283580
Saldarriaga Mesa, Brayan Javier; Varela Aldás, José; Roberti, Flavio; Toibero, Juan Marcos; A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments; MDPI; Robotics; 14; 9; 9-2025; 1-17
2218-6581
CONICET Digital
CONICET
url http://hdl.handle.net/11336/283580
identifier_str_mv Saldarriaga Mesa, Brayan Javier; Varela Aldás, José; Roberti, Flavio; Toibero, Juan Marcos; A Novel Methodology for Designing Digital Models for Mobile Robots Based on Model-Following Simulation in Virtual Environments; MDPI; Robotics; 14; 9; 9-2025; 1-17
2218-6581
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2218-6581/14/9/124
info:eu-repo/semantics/altIdentifier/doi/10.3390/robotics14090124
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.24418

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