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Introducing a 3D Physics Simulation Plugin for the ARGoS Robot Simulator

  • Richard RedpathEmail author
  • Jon Timmis
  • Martin A. Trefzer
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9716)

Abstract

We present a plugin for the ARGoS robot simulator which enables the use of 3D physics simulation and definition of objects and entities without the need to develop new entities in C++. We provide the facility for entities to be loaded and added to simulations using a URDF inspired XML format. Loading of entities, physics simulation and rendering is all handled by the plugin, removing the need for knowledge of specific engines or OpenGL. This paves the way for ARGoS to be used not only for development and evaluation of controllers but also for evolution of robot morphologies and co-evolution of controllers and morphologies which was previously not possible without a considerable development overhead.

Keywords

Physics Engine Link Element Swarm Robotic Definition File Texture Mesh 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgements

The authors would like to acknowledge support from the EPSRC and the Department of Electronics, University of York. JT is partially funded by The Royal Society.

References

  1. 1.
    Bullet Physics Engine. http://bulletphysics.org/. Accessed 11 Feb 2016
  2. 2.
    XML Robot Description Format. http://wiki.ros.org/urdf/XML/model. Accessed 11 Feb 2016
  3. 3.
    Pinciroli, C., Trianni, V., O’Grady, R., Pini, G., Brutschy, A., Brambilla, M., Mathews, N., Ferrante, E., Di Caro, G., Ducatelle, F., Birattari, M., Gambardella, L.M., Dorigo, M.: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell. 6(4), 271–295 (2012)CrossRefGoogle Scholar
  4. 4.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Richard Redpath
    • 1
    • 2
    Email author
  • Jon Timmis
    • 1
    • 2
  • Martin A. Trefzer
    • 1
    • 2
  1. 1.Department of ElectronicsUniversity of YorkYorkUK
  2. 2.York Robot LaboratoryYorkUK

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