Abstract
Physical simulation are frequently used in robotics for evaluation of control strategies or planning techniques. In this paper, a novel, light-weight open-source robotic simulator is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization, which makes it suitable for computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and powerful simulators that cannot be easily run on such machines. The paper briefly introduces architecture of the simulator with description of its utilization in evolutionary modular robotics.
The work in this paper was supported by TACR grant No. TE01020197, Access to computing and storage facilities owned by parties and projects contributing to the National Grid Infrastructure MetaCentrum, provided under the programme “Projects of Large Infrastructure for Research, Development, and Innovations” (LM2010005), is greatly appreciated.
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Vonásek, V., Fišer, D., Košnar, K., Přeučil, L. (2014). A Light-Weight Robot Simulator for Modular Robotics. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2014. Lecture Notes in Computer Science, vol 8906. Springer, Cham. https://doi.org/10.1007/978-3-319-13823-7_19
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DOI: https://doi.org/10.1007/978-3-319-13823-7_19
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