Abstract
Testing mobile robotic systems in the field is a costly and risky task. Unfortunately, there is a gap between the existing simulation capabilities and those required to simulate large numbers of aerial vehicles. Many multi-agent robotics simulators have been restricted to the 2D plane, which limits their usefulness for aerial robotic platforms. While high-fidelity 3D robotics simulators exist, simulating large numbers of agents in these simulators can result in slower-than-real-time performance. SCRIMMAGE provides a 3D robotics environment that can simulate varying levels of collision detection, sensor modeling, communications modeling, and motion modeling fidelity due to its flexible plugin interface. This allows a robotics researcher to simulate hundreds of aircraft with low-fidelity motion models or tens of aircraft with high-fidelity motion models on single computer. SCRIMMAGE provides tools for batch simulation runs, varying initial conditions, and deployment to a cluster.
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Notes
- 1.
The SCRIMMAGE source code is publicly available at https://github.com/gtri/scrimmage.
- 2.
The SCRIMMAGE website is located at http://www.scrimmagesim.org.
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DeMarco, K., Squires, E., Day, M., Pippin, C. (2019). Simulating Collaborative Robots in a Massive Multi-agent Game Environment (SCRIMMAGE). In: Correll, N., Schwager, M., Otte, M. (eds) Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-05816-6_20
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