Introducing a 3D physics simulation plugin for the ARGoS robot simulator

Richard Redpath*, Jon Timmis, Martin A. Trefzer

*Awdur cyfatebol y gwaith hwn

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

Crynodeb

We present a plugin for the ARGoS robot simulator which enables the use of 3D physics simulation and definition of objects and entities without the need to develop new entities in C++. We provide the facility for entities to be loaded and added to simulations using a URDF inspired XML format. Loading of entities, physics simulation and rendering is all handled by the plugin, removing the need for knowledge of specific engines or OpenGL. This paves the way for ARGoS to be used not only for development and evaluation of controllers but also for evolution of robot morphologies and co-evolution of controllers and morphologies which was previously not possible without a considerable development overhead.

Iaith wreiddiolSaesneg
TeitlTowards Autonomous Robotic Systems - 17th Annual Conference, TAROS 2016, Proceedings
GolygyddionLyuba Alboul, Dana Damian, Jonathan M. Aitken
CyhoeddwrSpringer Nature
Tudalennau269-274
Nifer y tudalennau6
ISBN (Argraffiad)9783319403786
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 2016
Digwyddiad17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016 - Sheffield, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 26 Meh 201601 Gorff 2016

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Cyfrol9716
ISSN (Argraffiad)0302-9743
ISSN (Electronig)1611-3349

Cynhadledd

Cynhadledd17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
DinasSheffield
Cyfnod26 Meh 201601 Gorff 2016

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