grSim – RoboCup Small Size Robot Soccer Simulator

  • Valiallah Monajjemi
  • Ali Koochakzadeh
  • Saeed Shiry Ghidary
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)

Abstract

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.

Keywords

Multi Robot Simulator RoboCup Small Size League Omni-directional robot modeling 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    OpenGL - The industry standard for high performance graphics (2011), http://www.opengl.org/ (accessed January 2011)
  2. 2.
    RoboCup - official website (2011), http://www.robocup.org/ (accessed January 2011)
  3. 3.
    Small Size Robot League - official website (2011), http://small-size.informatik.uni-bremen.de/ (accessed January 2011)
  4. 4.
    The Player Project - free software tools for robot and sensor applications (2011), http://playerstage.sourceforge.net/ (accessed January 2011)
  5. 5.
    Baillie, J.: Urbi: Towards a universal robotic low-level programming language. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 820–825. IEEE (2005)Google Scholar
  6. 6.
    Browning, B., Tryzelaar, E.: Übersim: A multi-robot simulator for robot soccer. In: Proceedings of the Second International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 948–949 (2003)Google Scholar
  7. 7.
    RoboCup Small Size League Technical Committee: RoboCup Small Size League Rules (2011), http://small-size.informatik.uni-bremen.de/rules:main (accessed January 2011)
  8. 8.
    Cyberbotics: Webots, fast prototyping and simulation of mobile robots (2011), http://www.cyberbotics.com/ (accessed January 2011)
  9. 9.
    Gerkey, B., Vaughan, R., Howard, A.: The Player/Stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (January 2003)Google Scholar
  10. 10.
    Go, J., Browning, B., Veloso, M.: Accurate and flexible simulation for dynamic, vision-centric robots. In: Proceedings of International Joint Conference on Autonomous Agents and Multi-Agent Systems, AAMAS 2004 (2004)Google Scholar
  11. 11.
    Google Inc.: Protocol buffers - google’s data interchange format (2011), http://code.google.com/p/protobuf/ (accessed January 2011)
  12. 12.
    Gostai Ltd.: Urbi - The universal platform (2011), http://www.gostai.com/urbi.php (accessed January 2011)
  13. 13.
    Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 3, pp. 2149–2154. IEEE (2005)Google Scholar
  14. 14.
    Koenig, N., Howard, A.: Gazebo - 3D multiple robot simulator with dynamics (2011), http://playerstage.sourceforge.net/gazebo/gazebo.html (accessed January 2011)
  15. 15.
    Laue, T., Spiess, K., Röfer, T.: SimRobot – A General Physical Robot Simulator and its Application in RoboCup. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 173–183. Springer, Heidelberg (2006)CrossRefGoogle Scholar
  16. 16.
    Michel, O.: Cyberbotics Ltd. Webots TM: Professional mobile robot simulation. International Journal of Advanced Robotic Systems 1(1), 39–42 (2004)Google Scholar
  17. 17.
    Nokia Inc.: Qt - A cross-platform application and UI framework (2011), http://qt.nokia.com/ (accessed January 2011)
  18. 18.
    Poorjandaghi, S., Monajjemi, V., Mehrabi, V., Nabi, M., Koochakzadeh, A., Atashzar, F., Omidi, E., Pahlavani, A., Sheikhi, E., Bahmand, A., Mohaimanian, M., Saeidi, A., Shamipour, S., Karkon, R.: Parsian - Amirkabir university of technology RoboCup small size soccer team. Team Description Paper for RoboCup (February 2011)Google Scholar
  19. 19.
    Smith, R.: ODE - Open Dynamics Engine (2011), http://www.ode.org/ (accessed January 2011)
  20. 20.
    Zickler, S.: Vartypes - A feature-rich, object-oriented framework for managing variables in C++ / QT4 (2011), http://code.google.com/p/protobuf/ (accessed January 2011)
  21. 21.
    Zickler, S., Laue, T., Birbach, O., Wongphati, M., Veloso, M.: SSL-Vision: The Shared Vision System for the RoboCup Small Size League. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS (LNAI), vol. 5949, pp. 425–436. Springer, Heidelberg (2010)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Valiallah Monajjemi
    • 1
  • Ali Koochakzadeh
    • 1
  • Saeed Shiry Ghidary
    • 2
  1. 1.Parsian Robotic Center, Electrical Engineering DepartmentAmirkabir University of TechnologyIran
  2. 2.Computer Engineering and Information Technology DepartmentAmirkabir University of TechnologyIran

Personalised recommendations