# Integrated Robotic and Network Simulation Method
## 5 Discussion and Conclusions  
In this work, we discussed the process of building an integrated simulation case for networked cooperative robots. We proposed a novel method, the IRoNS Method, featured with documentation procedures and statistical analysis.  
To illustrate the use of the IRoNS Method, we presented a case-study consisting on a comparison of diverse control strategies for a rendezvous task, under the influence of message losses. We showed how this method supports an objective comparison among the techniques under analysis in different operational scenarios, highlighting their behaviors and testing alternatives to improve them. In this case-study, we observed a change in the results of the techniques when comparing a fault-free with a faulty network scenario and assessed the effectiveness of a possible method to mitigate such faults.  
Based on this example study, we can state that the three considered rendezvous techniques have similar performance in convergence time as long as message exchange is reliable. However, the MPC technique showed to be less sensitive to message losses, performing better under such network conditions. Moreover, we observed that the impact of message losses can also be mitigated by increasing information lifetime, i.e., maintaining previous information whenever messages are lost.  
Figure 10: Differences in convergence time when varying the number of robots with two different control algorithms \(e1\) (average \(\times\) circumcenter) and two fixed communication topologies \(e2\) (linear \(\times\) grid), and its cross-factor relationship, with 99% confidence intervals.  
Obtaining this kind of information in a simulation phase was only possible with the integrated simulation framework offered by the IRoNS Method that provided a quick comparison and assessment using the confidence intervals statistical technique. Having this information in a simulation phase, developers can decide if any of these behaviors is acceptable or preferable before starting a real robots team implementation. Needed modifications can be done at simulation time, thus reducing transitions between simulation to real implementations and consequently, reducing the project total time.  
Moreover, the IRoNS method has proved helpful in simulation planning, organization, implementation, and analysis, improving the accuracy of comparisons and helping the transition to the implementation on real robots. Its use is not bound to any specific operational or simulation framework. The results analysis can be uniformly made for any simulation parameter change, requiring only to establish a task performance metric.  
We are currently applying this method to carry out comparisons among more complex cooperative tasks, such as advanced topology controls, using multiple operational scenarios and control strategies.  
Conceptualization, D.R. and U.M.; methodology, software, validation, formal analysis, D.R.; writing--original draft preparation, D.R.; writing--review and editing, L.A. and U.M.; supervision, L.A. and U.M.  
This research was partially funded by FCT/MEC through national funds and when applicable co-funded by FEDER - PT2020 partnership agreement under the project UID/EEA/50008/2019 in Portugal, and by the Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior--Brasil (CAPES)--Finance Code CAPES-FCT 353/13 in Brazil.  
The authors declare no conflict of interest.