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Simulation of multi-robot teams with flexible level of detail

Friedmann, Martin and Petersen, Karen and Stryk, Oskar von and Stryk, Oskar von Carpin, S. and Noda, I. and Pagello, E. and Reggiani, M. and Stryk, Oskar von (eds.) (2008):
Simulation of multi-robot teams with flexible level of detail.
In: Lecture Notes in Artificial Intelligence, 5325, In: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), Springer, Venice, Italy, pp. 29-40, DOI: 10.1007/978-3-540-89076-8_7,
[Conference or Workshop Item]

Abstract

A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robots’ motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.

Item Type: Conference or Workshop Item
Erschienen: 2008
Editors: Carpin, S. and Noda, I. and Pagello, E. and Reggiani, M. and Stryk, Oskar von
Creators: Friedmann, Martin and Petersen, Karen and Stryk, Oskar von and Stryk, Oskar von
Title: Simulation of multi-robot teams with flexible level of detail
Language: English
Abstract:

A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robots’ motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.

Title of Book: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)
Series Name: Lecture Notes in Artificial Intelligence
Volume: 5325
Number: 5325
Publisher: Springer
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Location: Venice, Italy
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1007/978-3-540-89076-8_7
Additional Information:

Best Paper Award

Identification Number: 2008:SIMPAR-FriedmannPetersenvonStryk
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