grSim – RoboCup Small Size Robot Soccer Simulator
- Cite this paper as:
- Monajjemi V., Koochakzadeh A., Ghidary S.S. (2012) grSim – RoboCup Small Size Robot Soccer Simulator. In: Röfer T., Mayer N.M., Savage J., Saranlı U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science, vol 7416. Springer, Berlin, Heidelberg
Realtime simulation of RoboCup small size soccer robots is a challenging task due to the high frame rate of input vision data and complex dynamic model of robots. In this paper we describe a new multi-robot 3D simulator for small size robot soccer domain named ‘grSim’. In order to decrease the model complexity and increase simulation speed, a simplified dynamic model for omni wheels is implemented. grSim has a distributed architecture, feature-rich user interface and supports all aspects of a small size robot soccer game, thus it can completely replace all hardware used by teams during software development. grSim can help software/AI developers design smarter SSL robot teams.
KeywordsMulti Robot Simulator RoboCup Small Size League Omni-directional robot modeling
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