Simulating Collaborative Robots in a Massive Multi-agent Game Environment (SCRIMMAGE)

  • Kevin DeMarcoEmail author
  • Eric Squires
  • Michael Day
  • Charles Pippin
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


Testing mobile robotic systems in the field is a costly and risky task. Unfortunately, there is a gap between the existing simulation capabilities and those required to simulate large numbers of aerial vehicles. Many multi-agent robotics simulators have been restricted to the 2D plane, which limits their usefulness for aerial robotic platforms. While high-fidelity 3D robotics simulators exist, simulating large numbers of agents in these simulators can result in slower-than-real-time performance. SCRIMMAGE provides a 3D robotics environment that can simulate varying levels of collision detection, sensor modeling, communications modeling, and motion modeling fidelity due to its flexible plugin interface. This allows a robotics researcher to simulate hundreds of aircraft with low-fidelity motion models or tens of aircraft with high-fidelity motion models on single computer. SCRIMMAGE provides tools for batch simulation runs, varying initial conditions, and deployment to a cluster.


Simulation Swarm robotics Autonomy 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Kevin DeMarco
    • 1
    Email author
  • Eric Squires
    • 1
  • Michael Day
    • 1
  • Charles Pippin
    • 1
  1. 1.Georgia Institute of TechnologyAtlantaUSA

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