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International Conference on Simulation, Modeling, and Programming for Autonomous Robots

SIMPAR 2008: Simulation, Modeling, and Programming for Autonomous Robots pp 75–86Cite as

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

  • Conference paper

Part of the Lecture Notes in Computer Science book series (LNAI,volume 5325)

Abstract

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.

Keywords

  • 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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Author information

Authors and Affiliations

  1. MPI for Mathematics in the Sciences, Inselstrasse 22, 04103, Leipzig, Germany

    Keyan Zahedi

  2. Institute of Cognitive Science, University of Osnabrück, Albrechtstraße 28, 49076, Osnabrück, Germany

    Arndt von Twickel & Frank Pasemann

Authors
  1. Keyan Zahedi
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  2. Arndt von Twickel
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  3. Frank Pasemann
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Editor information

Editors and Affiliations

  1. School of Engineering, University of California, Merced,, 5200 North Lake Rd, CA 95343, Merced, USA

    Stefano Carpin

  2. Information Technology Research Institute National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan

    Itsuki Noda

  3. Department of Information Engineering (DEI), University of Padua, Via G. Gradenigo, 6/a, 35131, Padova, Italy

    Enrico Pagello

  4. Department of Management and Engineering (DTG), University of Padua Stradella San Nicola, 3 I-36100, Vicenza, Italy

    Monica Reggiani

  5. Simulation, Systems Optimization and Robotics Group, Technische Universität Darmstadt, Hochschulstraße 10, 64289, Darmstadt, Germany

    Oskar von Stryk

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© 2008 Springer-Verlag Berlin Heidelberg

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Zahedi, K., von Twickel, A., Pasemann, F. (2008). YARS: A Physical 3D Simulator for Evolving Controllers for Real Robots. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89076-8_11

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  • DOI: https://doi.org/10.1007/978-3-540-89076-8_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89075-1

  • Online ISBN: 978-3-540-89076-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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