Abstract
ASCARI is a simulator dedicated to distributed and cooperative mobile robotics systems, designed as a framework for implementing and testing multi-agent collaborative algorithms, especially suited to evaluate algorithms performances with a non-perfect communication channel (e.g. delayed, limited bandwidth, limited range). Compared to state-of-art simulators, ASCARI meets a complex new requirement: inter-agent communication has to be integrated in the simulation loop.
The project core is a simulation server with a dynamic engine, a synchronization facility and a set of simulated communications providing the characteristics of the communication channel. Different channel requirements can be added by users.
Inter-agent communication is provided in a transparent way to the user by template communication classes. Simulated communications and filters are handled automatically. The simulator is completed by a 2D-3D viewer and a simple GUI.
In this paper we describe ASCARI and validate it on a distributed traffic control and a task assignment algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Vaughan, R.: Massively multi-robot simulation in stage. Swarm Intelligence 2(2-4), 189–208 (2008)
Vaughan, R.T., Gerkey, B.P., Howard, A.: On device abstractions for portable, reusable robot code. In: Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol. 3. IEEE (2003)
Gerkey, B., Vaughan, R.T., Howard, A.: The player/stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics, vol. 1 (2003)
Balmer, M., et al.: MATSim-T: Architecture and simulation times. In: Multi-agent Systems for Traffic and Transportation Engineering, pp. 57–78 (2009)
Michel, O.: Webots: Symbiosis between virtual and real mobile robots. In: Heudin, J.-C. (ed.) VW 1998. LNCS (LNAI), vol. 1434, pp. 254–263. Springer, Heidelberg (1998)
Pinciroli, C., et al.: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intelligence 6(4), 271–295 (2012)
Jackson, J.: Microsoft robotics studio: A technical introduction. IEEE Robotics & Automation Magazine 14(4), 82–87 (2007)
Carpin, S., et al.: USARSim: a robot simulator for research and education. In: 2007 IEEE International Conference on Robotics and Automation. IEEE (2007)
Freese, M., Singh, S., Ozaki, F., Matsuhira, N.: Virtual robot experimentation platform V-REP: A versatile 3D robot simulator. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 51–62. Springer, Heidelberg (2010)
Luke, S., et al.: MASON: A Java multi-agent simulation library. In: Proceedings of Agent 2003 Conference on Challenges in Social Simulation, vol. 9 (2003)
Minar, N., et al.: The swarm simulation system: a toolkit for building multi-agent systems. Santa Fe NM: Santa Fe Institute Working Paper (1996): 96-06
Bredeche, N., et al.: Roborobo! a fast robot simulator for swarm and collective robotics. arXiv preprint arXiv:1304.2888 (2013)
Echeverria, G., et al.: Modular open robots simulation engine: Morse. In: 2011 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2011)
Ferrati, M., Pallottino, L.: A time expanded network based algorithm for safe and efficient distributed multi-agent coordination. In: IEEE Conference on Decision and Control, Florence, Italy, pp. 2805–2810 (2013)
Settimi, A., Pallottino, L.: A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots. In: IEEE Conference on Decision and Control, Florence, Italy, pp. 3665–3670 (2013)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Ferrati, M., Settimi, A., Pallottino, L. (2014). ASCARI: A Component Based Simulator for Distributed Mobile Robot Systems. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2014. Lecture Notes in Computer Science, vol 8906. Springer, Cham. https://doi.org/10.1007/978-3-319-13823-7_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-13823-7_14
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13822-0
Online ISBN: 978-3-319-13823-7
eBook Packages: Computer ScienceComputer Science (R0)