TY - GEN
T1 - ARGoS
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
AU - Pinciroli, Carlo
AU - Trianni, Vito
AU - O'Grady, Rehan
AU - Pini, Giovanni
AU - Brutschy, Arne
AU - Brambilla, Manuele
AU - Mathews, Nithin
AU - Ferrante, Eliseo
AU - Di Caro, Gianni
AU - Ducatelle, Frederick
AU - Stirling, Timothy
AU - Gutiérrez, Álvaro
AU - Gambardella, Luca Maria
AU - Dorigo, Marco
PY - 2011/12/29
Y1 - 2011/12/29
N2 - We present ARGoS, a novel open source multi-robot simulator. The main design focus of ARGoS is the real-time simulation of large heterogeneous swarms of robots. Existing robot simulators obtain scalability by imposing limitations on their extensibility and on the accuracy of the robot models. By contrast, in ARGoS we pursue a deeply modular approach that allows the user both to easily add custom features and to allocate computational resources where needed by the experiment. A unique feature of ARGoS is the possibility to use multiple physics engines of different types and to assign them to different parts of the environment. Robots can migrate from one engine to another transparently. This feature enables entirely novel classes of optimizations to improve scalability and paves the way for a new approach to parallelism in robotics simulation. Results show that ARGoS can simulate about 10,000 simple wheeled robots 40% faster than real-time.
AB - We present ARGoS, a novel open source multi-robot simulator. The main design focus of ARGoS is the real-time simulation of large heterogeneous swarms of robots. Existing robot simulators obtain scalability by imposing limitations on their extensibility and on the accuracy of the robot models. By contrast, in ARGoS we pursue a deeply modular approach that allows the user both to easily add custom features and to allocate computational resources where needed by the experiment. A unique feature of ARGoS is the possibility to use multiple physics engines of different types and to assign them to different parts of the environment. Robots can migrate from one engine to another transparently. This feature enables entirely novel classes of optimizations to improve scalability and paves the way for a new approach to parallelism in robotics simulation. Results show that ARGoS can simulate about 10,000 simple wheeled robots 40% faster than real-time.
UR - http://www.scopus.com/inward/record.url?scp=82355178142&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=82355178142&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048500
DO - 10.1109/IROS.2011.6048500
M3 - Conference contribution
AN - SCOPUS:82355178142
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5027
EP - 5034
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 25 September 2011 through 30 September 2011
ER -