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Simulation of multi-robot teams with flexible level of detail

Friedmann, Martin ; Petersen, Karen ; Stryk, Oskar von ; Stryk, Oskar von
eds.: Carpin, S. ; Noda, I. ; Pagello, E. ; Reggiani, M. ; Stryk, Oskar von (2008)
Simulation of multi-robot teams with flexible level of detail.
Venice, Italy
doi: 10.1007/978-3-540-89076-8_7
Conference or Workshop Item, Bibliographie

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. ; Noda, I. ; Pagello, E. ; Reggiani, M. ; Stryk, Oskar von
Creators: Friedmann, Martin ; Petersen, Karen ; Stryk, Oskar von ; Stryk, Oskar von
Type of entry: Bibliographie
Title: Simulation of multi-robot teams with flexible level of detail
Language: English
Date: November 2008
Publisher: Springer
Issue Number: 5325
Book Title: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)
Series: Lecture Notes in Artificial Intelligence
Series Volume: 5325
Event Location: Venice, Italy
DOI: 10.1007/978-3-540-89076-8_7
Corresponding Links:
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.

Additional Information:

Best Paper Award

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Last Modified: 15 Mar 2019 09:58
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