ARGoS: a modular, multi-engine simulator for heterogeneous swarm robotics

Pinciroli, Carlo and Trianni, Vito and O'Grady, Rehan and Pini, Giovanni and Brutschy, Arne and Brambilla, Manuele and Mathews, Nithin and Ferrante, Eliseo and Di Caro, Gianni and Ducatelle, Frederick and Stirling, Timothy and Gutiérrez Martín, Álvaro and Gambardella, Luca Maria and Dorigo, Marco (2011). ARGoS: a modular, multi-engine simulator for heterogeneous swarm robotics. In: "International Conference on Intelligent Robots and Systems (IROS)", 25/09/2011 - 30/09/2011, San Francisco, California. pp. 5027-5034.

Description

Title: ARGoS: a modular, multi-engine simulator for heterogeneous swarm robotics
Author/s:
  • Pinciroli, Carlo
  • Trianni, Vito
  • O'Grady, Rehan
  • Pini, Giovanni
  • Brutschy, Arne
  • Brambilla, Manuele
  • Mathews, Nithin
  • Ferrante, Eliseo
  • Di Caro, Gianni
  • Ducatelle, Frederick
  • Stirling, Timothy
  • Gutiérrez Martín, Álvaro
  • Gambardella, Luca Maria
  • Dorigo, Marco
Item Type: Presentation at Congress or Conference (Article)
Event Title: International Conference on Intelligent Robots and Systems (IROS)
Event Dates: 25/09/2011 - 30/09/2011
Event Location: San Francisco, California
Title of Book: International Conference on Intelligent Robots and Systems (IROS)
Date: September 2011
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Tecnologías Especiales Aplicadas a la Aeronáutica [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

We present ARGoS, a novel open source multi-robot simulator. The main design focus of ARGoS is the real-time simulation of large heterogeneous swarms of robots. Existing robot simulators obtain scalability by imposing limitations on their extensibility and on the accuracy of the robot models. By contrast, in ARGoS we pursue a deeply modular approach that allows the user both to easily add custom features and to allocate computational resources where needed by the experiment. A unique feature of ARGoS is the possibility to use multiple physics engines of different types and to assign them to different parts of the environment. Robots can migrate from one engine to another transparently. This feature enables entirely novel classes of optimizations to improve scalability and paves the way for a new approach to parallelism in robotics simulation. Results show that ARGoS can simulate about 10,000 simple wheeled robots 40% faster than real-time.

More information

Item ID: 19283
DC Identifier: http://oa.upm.es/19283/
OAI Identifier: oai:oa.upm.es:19283
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094829&tag=1
Deposited by: Memoria Investigacion
Deposited on: 11 Sep 2013 17:05
Last Modified: 21 Apr 2016 17:32
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