A Customizable, Multi-host Simulation and Visualization Framework for Robot Applications

Braun, Tim; Wettach, Jens; Berns, Karsten

doi:10.1007/978-3-540-76729-9_28

Cited by 11 publications

(9 citation statements)

References 2 publications

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“…Due to the high effort of real-world experiments and missing information about the ground truth, preliminary tests have to be based on a simulation environment providing suitable details of the environment and the robot hardware. Here, SimVis3D [14] is used, which supports the simulation of actors, sensors, and environmental properties. That way, it is possible to check fundamental static and dynamic properties of robotic systems without possible damage to the hardware.…”

Section: Methods Application For Ravonmentioning

confidence: 99%

A Systematic Testing Approach for Autonomous Mobile Robots Using Domain-Specific Languages

Proetzsch

Zimmermann

Eschbach

et al. 2010

KI 2010: Advances in Artificial Intelligence

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Abstract.One aspect often neglected during the development of autonomous mobile robots is the systematic validation of their overall behavior. Especially large robots applied to real-world scenarios may cause injuries or even human death and must therefore be classified as safety-critical. In this paper, a generic approach to defining and executing purposeful test runs using domain-specific languages (dsls) is presented. Test cases can be defined in an appropriate test description language (first dsl). These test cases can be derived automatically using a modelbased testing approach, for which a test model has to be created. Hence, a second dsl for the creation of the test model is presented. It is further shown how the generated test cases are automatically executed and evaluated. The paper concludes with the application of the approach to the autonomous off-road robot ravon.

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Section: Methods Application For Ravonmentioning

confidence: 99%

A Systematic Testing Approach for Autonomous Mobile Robots Using Domain-Specific Languages

Proetzsch

Zimmermann

Eschbach

et al. 2010

KI 2010: Advances in Artificial Intelligence

Self Cite

View full text Add to dashboard Cite

show abstract

“…For simulation purposes, the SimVis3D framework, a powerful tool for simulating and visualizing robots and their environment [BWB07], has been used for several years now. For the research of smart environments the simulation has been extended to also simulate AmICA WSN nodes and basic radio communication.…”

Section: Simulation Of Wireless Sensor Networkmentioning

confidence: 99%

Mobile Robots in Smart Environments: The Current Situation

Arndt

Berns

2012

Informatik Aktuell

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Abstract. This work aims to give an overview about the current research concerning mobile robots in smart environments. It is part of the motivation of a paradigm that aims to shift complexity away from mobile machines into the (smart) environment without sacrificing the safety of the overall system. Several results of current and ongoing research will be presented, including a powerful simulation environment that allows to simulate the overall system including ambient sensors, communication within a wireless sensor network (WSN) and mobile robots. Also some experiments about the localization of mobile robots in smart environments and results will be presented.

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“…Furthermore, the support for spreading several simulation processes via a network communication layer on different host computers provides a cheap and straight forward speed up of complex simulation scenarios (cf. [1] for details).…”

Section: State Of the Artmentioning

confidence: 99%

“…In [1] the flexible 3D simulation framework SimVis3D that is based on OpenInventor(OIV) 3 has been presented. It provides means for simulating common sensors as cameras, laser scanners, infrared, ultrasonic, and PMD sensors.…”

Section: Introductionmentioning

confidence: 99%

Simulating Vehicle Kinematics with SimVis3D and Newton

Wettach¹,

Schmidt²,

Berns³

2010

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer 1 like robot is used. First its differential drive is simulated manually, without physical effects. Then the dynamics engine is applied to simulate this drive mechanism based on rolling friction between wheels and ground. Comparing the effort of application code for both approaches shows the benefit of delegating the calculation of rigid body motions. This fact is further stressed by simulating a trailer as a passive vehicle without any code extensions. Finally, a standard vehicle kinematic system consisting of Ackermann steering and rear wheel drive is realized 2 . The paper concludes with an application of this model for simulating the drive system of a bucket excavator as real world scenario.

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A Customizable, Multi-host Simulation and Visualization Framework for Robot Applications

Cited by 11 publications

References 2 publications

A Systematic Testing Approach for Autonomous Mobile Robots Using Domain-Specific Languages

A Systematic Testing Approach for Autonomous Mobile Robots Using Domain-Specific Languages

Mobile Robots in Smart Environments: The Current Situation

Simulating Vehicle Kinematics with SimVis3D and Newton

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