TY - GEN
T1 - SwarmSimX
T2 - 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012
AU - Lächele, Johannes
AU - Franchi, Antonio
AU - Bülthoff, Heinrich H.
AU - Robuffo Giordano, Paolo
PY - 2012
Y1 - 2012
N2 - In this paper we present a novel simulation environment called SwarmSimX with the ability to simulate dozens of robots in a realistic 3D environment. The software architecture of SwarmSimX allows new robots, sensors, and other libraries to be loaded at runtime, extending the functionality of the simulation environment significantly. In addition, SwarmSimX allows an easy exchange of the underlying libraries used for the visual and physical simulation to incorporate different libraries (e.g., improved or future versions). A major feature is also the possibility to perform the whole simulation in real-time allowing for human-in-the-loop or hardware-in-the-loop scenarios. SwarmSimX has been already employed in several works presenting haptic shared control of multiple mobile robots (e.g., quadrotor UAVs). Additionally, we present here two validation tests showing the physical fidelity and the real-time performance of SwarmSimX. For the tests we used NVIDIA ® PhysX ® and Ogre3D as physics and rendering libraries, respectively.
AB - In this paper we present a novel simulation environment called SwarmSimX with the ability to simulate dozens of robots in a realistic 3D environment. The software architecture of SwarmSimX allows new robots, sensors, and other libraries to be loaded at runtime, extending the functionality of the simulation environment significantly. In addition, SwarmSimX allows an easy exchange of the underlying libraries used for the visual and physical simulation to incorporate different libraries (e.g., improved or future versions). A major feature is also the possibility to perform the whole simulation in real-time allowing for human-in-the-loop or hardware-in-the-loop scenarios. SwarmSimX has been already employed in several works presenting haptic shared control of multiple mobile robots (e.g., quadrotor UAVs). Additionally, we present here two validation tests showing the physical fidelity and the real-time performance of SwarmSimX. For the tests we used NVIDIA ® PhysX ® and Ogre3D as physics and rendering libraries, respectively.
KW - Multi-Robot
KW - Real-Time
KW - Simulation Environments
KW - Software Framework
UR - http://www.scopus.com/inward/record.url?scp=84868035103&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84868035103&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-34327-8_34
DO - 10.1007/978-3-642-34327-8_34
M3 - Conference contribution
AN - SCOPUS:84868035103
SN - 9783642343261
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 375
EP - 387
BT - Simulation, Modeling, and Programming for Autonomous Robots - Third International Conference, SIMPAR 2012, Proceedings
Y2 - 5 November 2012 through 8 November 2012
ER -