TY - GEN
T1 - Virtual robot experimentation platform V-REP
T2 - 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2010
AU - Freese, Marc
AU - Singh, Surya
AU - Ozaki, Fumio
AU - Matsuhira, Nobuto
PY - 2010
Y1 - 2010
N2 - From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a modular and decentralized architecture for robotics simulation. In contrast to centralized approaches, this balances functionality, provides more diversity, and simplifies connectivity between (independent) calculation modules. As the Virtual Robot Experimentation Platform (V-REP) demonstrates, this gives a small-footprint 3D robot simulator that concurrently simulates control, actuation, sensing and monitoring. Its distributed and modular approach are ideal for complex scenarios in which a diversity of sensors and actuators operate asynchronously with various rates and characteristics. This allows for versatile prototyping applications including systems verification, safety/remote monitoring, rapid algorithm development, and factory automation simulation.
AB - From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a modular and decentralized architecture for robotics simulation. In contrast to centralized approaches, this balances functionality, provides more diversity, and simplifies connectivity between (independent) calculation modules. As the Virtual Robot Experimentation Platform (V-REP) demonstrates, this gives a small-footprint 3D robot simulator that concurrently simulates control, actuation, sensing and monitoring. Its distributed and modular approach are ideal for complex scenarios in which a diversity of sensors and actuators operate asynchronously with various rates and characteristics. This allows for versatile prototyping applications including systems verification, safety/remote monitoring, rapid algorithm development, and factory automation simulation.
KW - Distributed Control
KW - Robot Simulator
KW - V-REP
UR - http://www.scopus.com/inward/record.url?scp=78650290625&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650290625&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-17319-6_8
DO - 10.1007/978-3-642-17319-6_8
M3 - Conference contribution
AN - SCOPUS:78650290625
SN - 3642173187
SN - 9783642173189
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 51
EP - 62
BT - Simulation, Modeling, and Programming for Autonomous Robots - Second International Conference, SIMPAR 2010, Proceedings
Y2 - 15 November 2010 through 18 November 2010
ER -