Survey of popular robotics simulators, frameworks, and toolkits

Conference Proceedings - IEEE SOUTHEASTCON

Volumn , Issue , 2011, Pages 243-249

  Harris, Adam ^a   Conrad, James M ^a  

^a University of North Carolina at Charlotte   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

HUMAN ROBOT INTERACTION; SIMULATORS;

REAL-WORLD; RESEARCH COMMUNITIES; RESEARCH FOCUS; ROBOTIC SIMULATION; ROBOTIC SIMULATOR;

SURVEYS;

EID: 79956195554     PISSN: 10910050     EISSN: 1558058X     Source Type: Conference Proceeding    
DOI: 10.1109/SECON.2011.5752942     Document Type: Conference Paper

References (74)

1. J. Craighead, R. Murphy, J. Burke, and B. Goldiez. "A Survey of Commercial & Open Source Unmanned Vehicle Simulators." Proceedings 2007 IEEE International Conference on Robotics and Automation, Apr. 2007: 852-857. (Pubitemid 350140291)
2. Player Project, unpublished. http://playerstage.sourceforge.net (accessed Nov 2010)
3. B.P. Gerkey, R.T. Vaughan, K. Stoy, A. Howard, G.S. Sukhatme, and M.J. Mataric. "Most valuable player: a robot device server for distributed control." Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium 2001: 1226-1231. (Pubitemid 34683817)
4. Interviewing Brian Gerkey at Willow Garage, Aug. 28, 2008. unpublished. http://getrobo.typepad.com/getrobo/2008/08/interviewing-br.html (accessed Nov. 2010)
5. Vaughan, Richard T, and Andrew Howard. "On device abstractions for portable, reusable robot code." Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October 2003: 2421-2427.
6. "The Player Robot Device Interface" unpublished. http://playerstage.sourceforge.net/doc/Player-cvs/player/index.html (accessed Nov. 2010)
7. Player Manual: Supported Devices unpublished. http://playerstage. sourceforge.net/doc/Player-cvs/player/supported-hardware.html (accessed Nov. 2010)
8. B.P. Gerkey, R. T. Vaughan, and A. Howard. "The Player / Stage Project : Tools for Multi-Robot and Distributed Sensor Systems." Advanced Robotics, Icar 2003: 317-323.
9. Player Project Basic FAQ, unpublished. http://playerstage.sourceforge. net/wiki/Basic-FAQ (accessed Nov. 2010)
10. Gazebo Main Page unpublished. http://playerstage.sourceforge.net/index. php?src=gazebo (accessed Nov. 2010)
11. J. Craighead, R. Gutierrez, J. Burke, and R. Murphy. "Validating the Search and Rescue Game Environment as a robot simulator by performing a simulated anomaly detection task." 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept. 2008: 2289-2295.
12. M. E. Dolha, "3D Simulation in ROS Outline (slides)." Simulation (2010) unpublished. http://www.ros.org/wiki/Events/CoTeSys-ROS- School?action=AttachFile&do=get&target=3d-sim.pdf (accessed Dec. 2010)
13. USARSim Main Page unpublished. http://usarsim.sourceforge.net/wiki/index. php/Main-Page (accessed Nov. 2010)
14. G. Roberts, S. Balakirsky, and S. Foufou. "3D Reconstruction of rough terrain for USARSim using a height-map method." Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems - PerMIS '08, 2008: 259.
15. B. Balaguer, S. Balakirsky, S. Carpin, M. Lewis, and C. Scrapper, "USARSim: a validated simulator for research in robotics and automation," in IROS'08.Workshop on robot simulators: available software, scientific applications and future trends, Nice, France, 2008.
16. S. Okamoto, K. Kurose, S. Saga, K. Ohno, and S. Tadokoro, "Validation of simulated robots with realistically modeled dimensions and mass in usarsim," in Safety, Security and Rescue Robotics, 2008. SSRR 2008. IEEE International Workshop on, Oct. 2008, pp. 77-82.
17. S. Carpin,M. Lewis, J. Wang, S. Balakirsky, and C. Scrapper. "USARSim: a robot simulator for research and education." Proceedings 2007 IEEE International Conference on Robotics and Automation (Apr. 2007): 1400-1405. (Pubitemid 350140378)
18. USARSim Installation on Windows, unpublished. http://usarsim.sourceforge. net/wiki/index.php/4.-Installation (accessed Dec. 2010
19. USARSim Installation on Linux, unpublished. http://sourceforge.net/ projects/usarsim/forums/forum/486389/topic/3873619 (accessed Dec. 2010)
20. S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis, J. Wang. "Quantitative assessments of USARSim accuracy," in Proceedings of PerMIS 2006, 2006.
21. S. Carpin, J. Wang, M. Lewis, A. Birk, A. Jacoff. "High fidelity tools for rescue robotics: results and perspectives", in Robocup 2005: Robot Soccer World Cup IX, Springer, LNAI Vol. 4020, Springer, 2006, pp. 301-311.
22. M. Zaratti, M. Fratarcangeli, L. Iocchi. "A 3D simulator for multiple legged robots based on USARSim", in Robocup 2006: Robot Soccer World Cup X, Springer LNCS
23. C. Pepper, S. Balakirsky, and C. Scrapper. "Robot simulation physics validation." Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems - PerMIS '07 (2007): 97-104.
24. B. Balaguer and S. Carpin, "Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications," in Simulation, Modeling, and Programming for Autonomous Robots, vol. 5325, Springer Berlin Heidelberg, 2008, pp. 222-233.
25. A. Birk, J. Poppinga, T. Stoyanov, and Y. Nevatia "Planetary exploration in USARsim: a case study including real world data from Mars" In L. Iocchi, H. Matsubara, A. Weitzenfeld, & C. Zhou (Eds.), Lecture notes in artificial intelligence (LNAI). RoboCup 2008: Robot WorldCup XII. Berlin: Springer.
26. SARGE Games, unpublished. http://www.sargegames.com/page1/page1.html (accessed Nov. 2010)
27. J. Craighead, J. Burke, R. Murphy. "Using the Unity Game Engine to Develop SARGE: A Case Study". Proceedings of the 2008 Simulation Workshop at the International Conference on Intelligent Robots and Systems (IROS 2008). Sept. 2008
28. J. Craighead, R. Gutierrez, J. Burke, R. Murphy. "Validating The Search and Rescue Game Environment As A Robot Simulator By Performing A Simulated Anomaly Detection Task". Proceedings of the 2008 International Conference on Intelligent Robots and Systems (IROS 2008). Sept. 2008.
29. User Guide for SARGE 0.1.7, Apr. 24, 2008 unpublished. Downloaded with Source Code for SARGE from http://sourceforge.net/projects/sarge/ (accessed Nov. 2010)
30. ROS Documentation, unpublished. http://www.ros.org/wiki/ (acessed Nov. 2010)
31. "ROS/Introduction", unpublished. http://www.ros.org/wiki/ROS/ Introduction (accessed Nov. 2010)
32. Robotics Equipment Corporation ROS for Windows, unpublished. http://www.servicerobotics.eu/index.php?id=37 (accessed Dec. 2010)
33. M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote, J. Leibs, E. Berger, R. Wheeler, and A. Ng (2009). ROS: an open-source Robot Operating System. In Open-source software workshop of the international conference on robotics and automation (ICRA).
34. "Happy 3rd Anniversary, ROS!", unpublished. http://www.willowgarage.com/blog/2010/11/08/happy-3rd-anniversary-ros (accessed Nov. 2010)
35. ROS FAQ, unpublished. http://www.ros.org/wiki/FAQ (accessed Dec. 2010)
36. "Carnegie Mellon UberSim Project" http://www.cs.cmu.edu/ ~robosoccer/ubersim/ (acessed Dec. 2010)
37. "CORAL Downloads" http://www.cs.cmu.edu/~coral/download/ (accessed Dec. 2010)
38. B. Browning and E. Tryzelaar, "Ubersim: A multi-robot simulator for robot soccer" In Proceedings of the Second International Joint Conference on Autonomous Agents and Multiagent Systems.
39. "EyeSim - EyeBot Simulator" http://robotics.ee.uwa.edu.au/ eyebot/doc/sim/sim.html (accessed Nov. 2010)
40. T. Bräunl. "The EyeSim Mobile Robot Simulator The EyeSim Mobile Robot Simulator." Report University of Auckland, Mar. (2000).
41. A. Koestler, and T. Bräunl. "Mobile Robot Simulation with Realistic Error Models (eyesim)." Autonomous Robots 51, no. 6 (2004): 46-51.
42. A. Waggershauser, "Simulation of small autonomous mobile robots." PhD Thesis, Kaiserslautern University of Technology Dec. (2002)
43. SubSim Website, unpublished. http://robotics.ee.uwa.edu.au/auv/subsim. html (accessed Dec. 2010)
44. T. Bielohlawek "SubSim - An Autonomous Underwater Vehicle Simulation System", PhD Thesis, Kaiserslautern University of Technology, Apr. (2006)
45. OpenRAVE Main Page, unpublished. http://openrave.programmingvision.com/ index.php/Main-Page (accessed Dec. 2010)
46. R. Diankov and J. Kuffner "Openrave: A planning architecture for autonomous robotics" Tech. Rep. CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University (2008)
47. "OpenRAVE and ROS" http://www.willowgarage.com/blog/2009/01/21/ openrave-and-ros (accessed Dec. 2010)
48. "Introduction to OpenRAVE..." http://openrave. programmingvision.com/index.php/Main-Page#Introduction-to-OpenRAVE---the-Open- Robotics-Automation-Virtual-Environment (accessed Dec. 2010)
49. OpenRTM-aist Official Website http://www.openrtm.org/ (accessed Dec. 2010)
50. "RT-Middleware : OpenRTM-aist version 1.0 has been released", unpublished. http://www.aist.go.jp/aist-e/latest-research/2010/20100210/ 20100210.html, (accessed Dec. 2010)
51. G. Roberts, S. Balakirsky, and S. Foufou. "3D Reconstruction of rough terrain for USARSim using a height-map method." Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems - PerMIS '08 (2008): 259.
52. "The Mobile Robot Programming Toolkit", unpublished. http://www.mrpt.org/ (accessed Dec. 2010)
53. J. L. Claraco. Development of Scientific Applications with the Mobile Robot Programming Toolkit. The MRPT reference book. Machine Perception and Intelligent Robotics Laboratory, University of Ḿlaga, Ḿlaga, Spain, October, 2010.
54. "About MRPT", unpublished. http://www.mrpt.org/About (accessed Dec. 2010)
55. "Research Network for Self-Organization of Robot Behavior", unpublished. http://robot.informatik.uni-leipzig.de/software/ (accessed Nov. 2010)
56. "SimRobot - Robotics Simulator", unpublished. http://www.informatik.uni-bremen.de/simrobot/index-e.htm (accessed Nov. 2010)
57. T. Laue and T. Rofer Simrobot - development and applications. In Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), Venice, Italy, 2008.
58. T. Laue, Tim, K. Spiess, and T. Rofer. "SimRobot - A General Physical Robot Simulator and its Application in RoboCup." In: Proc. of RoboCup Symposium. Universität Bremen (2005)
59. Moby Project Main Page, unpublished. http://physsim.sourceforge.net/ index.html (accessed Nov. 2010)
60. "Microsoft Robotics", unpublished. http://msdn.microsoft.com/ robotics (accessed Nov. 2010)
61. J. Jackson Microsoft robotics studio: A technical introduction. Robotics and Automation Magazine 14(4) (2007) 82-87
62. Overview of Microsoft Robotics, unpublished. http://msdn.microsoft.com/ en-us/library/bb483024.aspx (accessed Dec. 2010)
63. "anyKode Marilou - Modeling and simulation environment for Robotics", unpublished. http://www.anykode.com/index.php (accessed Nov. 2010)
64. Marilou Physics, unpublished. http://www.anykode.com/marilouphysics.php (accessed Nov. 2010)
65. Marilou Programming Wizard, unpublished.s http://www.anykode.com/ marilouwizard.php (accessed Nov. 2010)
66. Marilou Licensing Information, unpublished. http://www.anykode.com/ licensemodel.php (accessed Nov. 2010)
67. "Cyberbotics Webots", unpublished. http://www.cyberbotics.com/ products/webots/ (accessed Nov. 2010)
68. M. Olivier "Webots TM : Professional Mobile Robot Simulation." Int. Journal of Advanced Robotic Systems (2004): 39-42.
69. "Khepera Simulator Homepage", unpublished. http://diwww.epfl. ch/lami/team/michel/khep-sim/ (accessed Nov. 2010)
70. Webots User Guide, Published Dec. 2010, unpublished. www.cyberbotics.com/ cyberbotics/guide.pdf (accessed Dec. 2010)
71. Webots Order Page, unpublished. http://www.cyberbotics.com/order/ (accessed Nov. 2010)
72. "Cogmation Robotics - roboSim Pro", unpublished. http://www.cogmation.com/robot-builder.html (accessed Dec. 2010)
73. "Create model with Google Sketchup", unpublished. Forum post http://cogmation.com/forum/viewtopic.php?f=9&t=6 (accessed Nov. 2010)
74. roboSim User Guide, unpublished. http://cogmation.com/pdf/robotsim-doc. pdf (accessed Dec. 2010)