TY - JOUR
T1 - MAES
T2 - a ROS 2-compatible simulation tool for exploration and coverage algorithms
AU - Andreasen, Malte Z.
AU - Holler, Philip I.
AU - Jensen, Magnus K.
AU - Albano, Michele
N1 - Publisher Copyright:
© 2023, The Author(s).
PY - 2023/11
Y1 - 2023/11
N2 - With the aim of allowing the efficient and realistic simulation of swarm algorithms for exploration and coverage, we present the tool Multi-Agent Exploration Simulator (MAES), which is an open-source physics-based discrete step multi-robot simulator. MAES features movement in a continuous 2D space, realistic physics based on the Unity framework, advanced visualization techniques such as heatmaps, custom wireless signal degradation, both randomly generated and custom user-provided maps, and a ROS (Robot Operating System) interface. This latter characteristic could allow to port the simulated algorithms to real-world robots. We present performance tests, conducted with rather modest hardware, showing that MAES is able to simulate up to 5 robots in ROSMode (using the ROS integration) and up to 120 robots in UnityMode (development performed directly into the C# Unity Editor). A usability test was conducted which hinted that the target audience of robotics researchers and developers is able to quickly install, setup, and use MAES for implementing simple robot logic.
AB - With the aim of allowing the efficient and realistic simulation of swarm algorithms for exploration and coverage, we present the tool Multi-Agent Exploration Simulator (MAES), which is an open-source physics-based discrete step multi-robot simulator. MAES features movement in a continuous 2D space, realistic physics based on the Unity framework, advanced visualization techniques such as heatmaps, custom wireless signal degradation, both randomly generated and custom user-provided maps, and a ROS (Robot Operating System) interface. This latter characteristic could allow to port the simulated algorithms to real-world robots. We present performance tests, conducted with rather modest hardware, showing that MAES is able to simulate up to 5 robots in ROSMode (using the ROS integration) and up to 120 robots in UnityMode (development performed directly into the C# Unity Editor). A usability test was conducted which hinted that the target audience of robotics researchers and developers is able to quickly install, setup, and use MAES for implementing simple robot logic.
KW - Autonomous robots
KW - Continuous space
KW - Multi-agent
KW - Nav2
KW - Robot operating system
KW - Swarm robotics
UR - http://www.scopus.com/inward/record.url?scp=85173007254&partnerID=8YFLogxK
U2 - 10.1007/s10015-023-00895-7
DO - 10.1007/s10015-023-00895-7
M3 - Journal article
AN - SCOPUS:85173007254
SN - 1433-5298
VL - 28
SP - 757
EP - 770
JO - Artificial Life and Robotics
JF - Artificial Life and Robotics
IS - 4
ER -