YARS: A Physical 3D Simulator for Evolving Controllers for Real Robots

  • Keyan Zahedi
  • Arndt von Twickel
  • Frank Pasemann
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5325)


This paper presents YARS (Yet Another Robot Simulator), which was initially developed in the context of evolutionary robotics (ER), yet includes features which are also of benefit to those outside of this field. An experiment in YARS is defined by a single XML file, which includes the simulator configuration, the (randomisable) environment, and any number of (mobile) robots. Robots are either controlled through an automatised communication, or by dynamically loaded C++ programs. Therefore, YARS, although still under active development, is comparable with commercial and open-source robot simulators which include a physics engine such as Webots and Breve but with a much stronger focus on requirements originating from the field of evolutionary robotics.


Recurrent Neural Network Description Language Real Robot Evolve Controller Real Hardware 
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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Keyan Zahedi
    • 1
  • Arndt von Twickel
    • 2
  • Frank Pasemann
    • 2
  1. 1.MPI for Mathematics in the SciencesLeipzigGermany
  2. 2.Institute of Cognitive ScienceUniversity of OsnabrückOsnabrückGermany

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