Abstract
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.
Originalsprog | Engelsk |
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Tidsskrift | Artificial Life and Robotics |
Vol/bind | 28 |
Udgave nummer | 4 |
Sider (fra-til) | 757-770 |
Antal sider | 14 |
ISSN | 1433-5298 |
DOI | |
Status | Udgivet - nov. 2023 |
Bibliografisk note
Publisher Copyright:© 2023, The Author(s).