About: Sim: A Light-Weight Robot Simulator for Modular Robots

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Physical simulation is frequently used in robotics, as it allows evaluation of control strategies or planning techniques in situations, where experiments with real robots are time consuming or limited due to power resources or reliability issues. Such an example is locomotion generation for modular robots formed from many small robotic modules. To find a suitable locomotion for such a complex robot, evolutionary principles can be used, which requires to conduct many experiments. To speed up this process, a robot simulator can be employed. In this paper, a novel, light-weight open-source simulator for the modular robots is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization. This allows to run it on e.g. on computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and powerful simulators that cannot be easily run on such machines. The paper briefly introduces architecture of the simulator with description of its utilization in evolutionary modular robotics. Physical simulation is frequently used in robotics, as it allows evaluation of control strategies or planning techniques in situations, where experiments with real robots are time consuming or limited due to power resources or reliability issues. Such an example is locomotion generation for modular robots formed from many small robotic modules. To find a suitable locomotion for such a complex robot, evolutionary principles can be used, which requires to conduct many experiments. To speed up this process, a robot simulator can be employed. In this paper, a novel, light-weight open-source simulator for the modular robots is introduced. It provides both physical and sensor simulation and it was designed to be run in a headless mode, i.e., without any visualization. This allows to run it on e.g. on computational grids. Despite this fact, the progress of the simulation can be later visualized using external tools like Blender 3D. This brings advantage in comparison to more general and powerful simulators that cannot be easily run on such machines. The paper briefly introduces architecture of the simulator with description of its utilization in evolutionary modular robotics. (en)
Title	Sim: A Light-Weight Robot Simulator for Modular Robots Sim: A Light-Weight Robot Simulator for Modular Robots (en)
skos:prefLabel	Sim: A Light-Weight Robot Simulator for Modular Robots Sim: A Light-Weight Robot Simulator for Modular Robots (en)
skos:notation	RIV/68407700:21230/13:00205391!RIV14-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	I
http://linked.open...avai/riv/aktivity	I
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Přeučil, Libor Vonásek, Vojtěch Košnar, Karel
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	105089
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00205391
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Robot Simulator; Modular Robots (en)
http://linked.open.../riv/klicoveSlovo	Robot Simulator Modular Robots
http://linked.open...ontrolniKodProRIV	[3FD6A7FC46DF]
http://linked.open...v/mistoKonaniAkce	Karlsruhe
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	Workshop Proceedings on Unconventional Approaches to Robotics
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Košnar, Karel Přeučil, Libor Vonásek, Vojtěch Fišer, D.
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2013-05-06 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4673-5642-8
http://localhost/t...ganizacniJednotka	21230

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