Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Pages | 375-387 |
| Number of pages | 13 |
| Volume | 7628 LNAI |
| DOIs | |
| Publication status | Published - 2012 Nov 2 |
| Event | 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012 - Tsukuba, Japan Duration: 2012 Nov 5 → 2012 Nov 8 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 7628 LNAI |
| ISSN (Print) | 03029743 |
| ISSN (Electronic) | 16113349 |
Other
| Other | 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012 |
|---|---|
| Country | Japan |
| City | Tsukuba |
| Period | 12/11/5 → 12/11/8 |
Fingerprint
Keywords
- Multi-Robot
- Real-Time
- Simulation Environments
- Software Framework
ASJC Scopus subject areas
- Computer Science(all)
- Theoretical Computer Science
Cite this
SwarmSimX : Real-time simulation environment for multi-robot systems. / Lächele, Johannes; Franchi, Antonio; Bulthoff, Heinrich; Robuffo Giordano, Paolo.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 7628 LNAI 2012. p. 375-387 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7628 LNAI).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - SwarmSimX
T2 - Real-time simulation environment for multi-robot systems
AU - Lächele, Johannes
AU - Franchi, Antonio
AU - Bulthoff, Heinrich
AU - Robuffo Giordano, Paolo
PY - 2012/11/2
Y1 - 2012/11/2
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
VL - 7628 LNAI
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 375
EP - 387
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ER -