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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F12%3A00190044%21RIV13-MSM-21230___
rdf:type
skos:Concept n10:Vysledek
rdfs:seeAlso
http://seth.asc.tuwien.ac.at/proc12/full_paper/Contribution186.pdf
dcterms:description
In modular robotics, complex structures can be formed from basic modules to solve tasks which would be difficult for a single robot. The development of techniques for adaptation and evolution of multi-robot organisms is the subject of Symbrion project. In the project, the bio-inspired evolutionary algorithms are massively simulated prior to run them on a real hardware. It is crucial to evolve behaviors of the robots in a simulation, that is close to a real world. Hence, accurate and efficient representation of an environment in the simulation is needed. Here, the environment is modeled using set of 3D objects (usually triangle meshes). The robots learn simple motion primitives or complex movement patterns during many runs of the evolution. The learned skills are then used during experiments with a real hardware. In this paper, we present methods for building 3D model of a real arena using a laser rangefinder. The resulting 3D models consist of triangles. They can be constructed in various level of details using state-of-the-art methods for 3D reconstruction. We will show, how the size of the models influences the speed of the simulation. In modular robotics, complex structures can be formed from basic modules to solve tasks which would be difficult for a single robot. The development of techniques for adaptation and evolution of multi-robot organisms is the subject of Symbrion project. In the project, the bio-inspired evolutionary algorithms are massively simulated prior to run them on a real hardware. It is crucial to evolve behaviors of the robots in a simulation, that is close to a real world. Hence, accurate and efficient representation of an environment in the simulation is needed. Here, the environment is modeled using set of 3D objects (usually triangle meshes). The robots learn simple motion primitives or complex movement patterns during many runs of the evolution. The learned skills are then used during experiments with a real hardware. In this paper, we present methods for building 3D model of a real arena using a laser rangefinder. The resulting 3D models consist of triangles. They can be constructed in various level of details using state-of-the-art methods for 3D reconstruction. We will show, how the size of the models influences the speed of the simulation.
dcterms:title
Techniques for Modeling Simulation Environments for Modular Robotics Techniques for Modeling Simulation Environments for Modular Robotics
skos:prefLabel
Techniques for Modeling Simulation Environments for Modular Robotics Techniques for Modeling Simulation Environments for Modular Robotics
skos:notation
RIV/68407700:21230/12:00190044!RIV13-MSM-21230___
n10:predkladatel
n11:orjk%3A21230
n4:aktivita
n20:P n20:Z
n4:aktivity
P(7E08006), P(7E11017), Z(MSM6840770038)
n4:dodaniDat
n9:2013
n4:domaciTvurceVysledku
n12:1402463 Petrík, Vladimír n12:5498880 n12:4187288 n12:4334175 n12:3933334 n12:3276155
n4:druhVysledku
n14:D
n4:duvernostUdaju
n24:S
n4:entitaPredkladatele
n5:predkladatel
n4:idSjednocenehoVysledku
173435
n4:idVysledku
RIV/68407700:21230/12:00190044
n4:jazykVysledku
n16:eng
n4:klicovaSlova
Modular Robotics; Simulator; Simulation; Evolution Via Simulation
n4:klicoveSlovo
n7:Simulator n7:Simulation n7:Modular%20Robotics n7:Evolution%20Via%20Simulation
n4:kontrolniKodProRIV
[69FA60E1FA61]
n4:mistoKonaniAkce
Wien
n4:mistoVydani
Vienna
n4:nazevZdroje
Proccedings of International Conference on Mathematical Modelling
n4:obor
n23:JC
n4:pocetDomacichTvurcuVysledku
7
n4:pocetTvurcuVysledku
7
n4:projekt
n15:7E08006 n15:7E11017
n4:rokUplatneniVysledku
n9:2012
n4:tvurceVysledku
Kulich, Miroslav Fišer, Daniel Přeučil, Libor Krajník, Tomáš Petrík, Vladimír Saska, Martin Vonásek, Vojtěch
n4:typAkce
n13:WRD
n4:zahajeniAkce
2012-02-15+01:00
n4:zamer
n18:MSM6840770038
s:numberOfPages
6
n3:doi
10.3182/20120215-3-AT-3016.00037
n17:hasPublisher
Vienna University of Technology
n25:isbn
978-3-902823-23-6
n22:organizacniJednotka
21230