Design and use paradigms for Gazebo, an open-source multi-robot simulator
Nathan Koenig,Andrew Howard +1 more
- 01 Sep 2004
- Vol. 3, pp 2149-2154
TL;DR: Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots.
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Abstract: Simulators have played a critical role in robotics research as tools for quick and efficient testing of new concepts, strategies, and algorithms. To date, most simulators have been restricted to 2D worlds, and few have matured to the point where they are both highly capable and easily adaptable. Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots. Its open source status, fine grained control, and high fidelity place Gazebo in a unique position to become more than just a stepping stone between the drawing board and real hardware: data visualization, simulation of remote environments, and even reverse engineering of blackbox systems are all possible applications. Gazebo is developed in cooperation with the Player and Stage projects (Gerkey, B. P., et al., July 2003), (Gerkey, B. P., et al., May 2001), (Vaughan, R. T., et al., Oct. 2003), and is available from http://playerstage.sourceforge.net/gazebo/ gazebo.html.
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References
•Proceedings Article
The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems
Brian P. Gerkey,Richard T. Vaughan,Andrew Howard +2 more
- 01 Jul 2003
TL;DR: Current usage of Player and Stage is reviewed, and some interesting research opportunities opened up by this infrastructure are identified.
Adapting the Sample Size in Particle Filters Through KLD-Sampling
TL;DR: A statistical approach to increasing the efficiency of particle filters by adapting the size of sample sets during the estimation process by bounding the approximation error introduced by the sample-based representation of the particle filter.
VFH/sup */: local obstacle avoidance with look-ahead verification
Iwan Ulrich,Jason Borenstein +1 more
- 24 Apr 2000
TL;DR: The enhanced method, called VFH/sup */ successfully deals with situations that are problematic for purely local obstacle avoidance algorithms and verifies that a particular candidate direction guides the robot around an obstacle.
The SDR Experience: Experiments with a Large-Scale Heterogeneous Mobile Robot Team
Andrew Howard,Lynne E. Parker,Gaurav S. Sukhatme +2 more
- 01 Jan 2006
TL;DR: A large heterogeneous robot team consisting of approximately 80 robots capable of carrying out 'locate-and-protect' missions is developed, and selected results from externally supervised experiments conducted in a 600 m 2 indoor environment are presented.
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•Book
Darwin2K: An Evolutionary Approach to Automated Design for Robotics
Chris Leger
- 01 Jan 2000
TL;DR: 1. Representation and Architecture, Synthesis Methodology, Experiments and Demonstration, and Conclusion.
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