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  SwarmSimX: Real-time Simulation Environment for Multi-robot Systems

Lächele, J., Franchi, A., Bülthoff, H., & Robuffo Giordano, P. (2012). SwarmSimX: Real-time Simulation Environment for Multi-robot Systems. In I. Noda, N. Ando, D. Brugali, & J. Kuffner (Eds.), Simulation, Modeling, and Programming for Autonomous Robots (pp. 375-387). Berlin, Germany: Springer.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B56A-3 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8AEA-C
Genre: Conference Paper

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 Creators:
Lächele, J1, 2, Author              
Franchi, A1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 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.

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 Dates: 2012-11
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-642-34327-8_34
BibTex Citekey: LacheleFBR2012
 Degree: -

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Title: 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012)
Place of Event: Tsukuba, Japan
Start-/End Date: 2012-11-08 - 2012-11-05

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Source 1

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Title: Simulation, Modeling, and Programming for Autonomous Robots
Source Genre: Proceedings
 Creator(s):
Noda, I, Editor
Ando, N, Editor
Brugali, D, Editor
Kuffner, JJ, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 375 - 387 Identifier: ISBN: 978-3-642-34326-1

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Title: Lecture Notes in Computer Science
Source Genre: Series
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Publ. Info: -
Pages: - Volume / Issue: 7628 Sequence Number: - Start / End Page: - Identifier: -