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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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 Urheber:
Lächele, J1, 2, Autor           
Franchi, A1, 2, Autor           
Bülthoff, HH1, 2, Autor           
Robuffo Giordano, P1, 2, Autor           
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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 Zusammenfassung: 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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 Datum: 2012-11
 Publikationsstatus: Erschienen
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 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1007/978-3-642-34327-8_34
BibTex Citekey: LacheleFBR2012
 Art des Abschluß: -

Veranstaltung

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Titel: 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012)
Veranstaltungsort: Tsukuba, Japan
Start-/Enddatum: 2012-11-08 - 2012-11-05

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Quelle 1

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Titel: Simulation, Modeling, and Programming for Autonomous Robots
Genre der Quelle: Konferenzband
 Urheber:
Noda, I, Herausgeber
Ando, N, Herausgeber
Brugali, D, Herausgeber
Kuffner, JJ, Herausgeber
Affiliations:
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Ort, Verlag, Ausgabe: Berlin, Germany : Springer
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 375 - 387 Identifikator: ISBN: 978-3-642-34326-1

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Titel: Lecture Notes in Computer Science
Genre der Quelle: Reihe
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Ort, Verlag, Ausgabe: -
Seiten: - Band / Heft: 7628 Artikelnummer: - Start- / Endseite: - Identifikator: -