MAES, a Realistic Simulator for Multi Agent Exploration and Coverage

Malte Zoëga Andreasen, Philip Irming Holler, Magnus Kirkegaard Jensen, Michele Albano

Research output: Contribution to conference without publisher/journalPosterResearchpeer-review


This demo concerns the open source physics-driven simulation
tool Multi Agent Exploration Simulator (MAES), which
can be used for developing and evaluating exploration and
coverage algorithms in an unknown continuous 2D environment.
MAES supports development efforts for new algorithms
by means of debugging tools for developed algorithms.
It provides a fully user-controlled camera over the environment
under exploration, which can be attached to a single
robot to follow its operations. MAES represents graphically
the SLAM process and the areas explored by one or all robots,
to visualize exploration, coverage, heatmap, slam etc, both
for a specific robot or for the entire swarm. Finally, MAES
provides both a simple interface for developing algorithms
in C# as well as a Robot Operating System 2 (ROS2) interface,
the latter allowing to integrate with existing robot controllers.
MAES aims to bridge the gap between unrealistic,
simple simulations, usually executed on grid environments,
and heavy, time consuming, but realistic simulations, such as
ARGoS or Gazebo. The accompanying video is available at MAES’ source code can be
found at
Original languageEnglish
Publication date13 Jun 2022
Number of pages2
Publication statusPublished - 13 Jun 2022
EventThe 32nd International Conference on Automated Planning and Scheduling - Virtual, Singapore, Singapore
Duration: 13 Jun 202224 Jun 2022


ConferenceThe 32nd International Conference on Automated Planning and Scheduling

Bibliographical note

Poster, demo, and accompanied short paper. All available publicly from the conference website.


  • Simulation
  • Exploration
  • Coverage
  • Algorithms


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