MarSim, a Simulation of the MarsuBots Fleet Using NetLogo

Conference paper

DOI: 10.1007/978-4-431-55879-8_6

Volume 112 of the book series Springer Tracts in Advanced Robotics (STAR)
Cite this paper as:
Leal Martínez D., Halme A. (2016) MarSim, a Simulation of the MarsuBots Fleet Using NetLogo. In: Chong NY., Cho YJ. (eds) Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 112. Springer, Tokyo

Abstract

The Marsubots fleet is an heterogeneous robot fleet consisting of Marsus and Motherbots, the purpose of this fleet is to explore previously unexplored areas as well as partially explored areas or areas that have suffered alterations. In order to be able to explore large areas such as large buildings and open spaces, the robots need to recharge their batteries from the Motherbot’s recharging bay. This paper focuses on describing the simulation environment MarSim that has been created using NetLogo to model the fleet in order to be able to use tools like Genetic Algorithms to refine the parameters that have been identified as key parameters for the robots to complete the task at hand successfully, specially after a large amount of recharge cycles.

Keywords

Distributed robotics MarsuBots NetLogo Power management Recharging 

Copyright information

© Springer Japan 2016

Authors and Affiliations

  1. 1.Department of Automation and Systems TechnologyAalto University School of Electrical EngineeringEspooFinland