Mobile robot simulators and their application to hazardous and challenging environments

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Mobile robot simulators and their application to
hazardous and challenging environments

• IARP/EURON Workshop on Robotics for Risky
  Interventions and Environmental Surveillance

L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R.
Sebastia, K. McAllister
January 7th-8th, 2008 - Benicàssim (Spain)?
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Overview

• Introduction
• The Player / Stage / Gazebo tools
• Installation and configuration
• Setting up a scenario
• Conclusion and future work

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Introduction motivation

• Multiple robot platforms and sensors.
• Cross-platform development.
• Reuse of robot software
• Simulation aid
• evaluation of algorithms
• training

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Introduction related work

• Mobile platforms
• K-team Khepera
• Pioneer / Erratic
• Robotnik rescuer
• Robot Development Environments.
• Proprietary versus Open Source.
• Mobile robot simulators.
• 2D versus 3D.

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Introduction list of choices

• Open Source
• Orocos
• Player / Stage (2D) / Gazebo (3D)?
• Carmen
• Marie
• USARSim (3D)?
• Proprietary
• Robot manufacturers
• Microsoft Robotics Studio

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Player / Stage / Gazebo tools

• Open-Source, cross-platform, active.
• Player robot device interface
• N mobile platforms
• M sensors
• Algorithm drivers (amcl, vfh, ...)?
• Tools
• Stage 2D simulator
• Gazebo 3D simulator

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Player architecture
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Player tools
Vaughan Gerkey 07
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Stage 2D simulator
Vaughan Gerkey 07
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Stage 2D simulator
Vaughan Gerkey 07
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Gazebo 3D simulator
Vaughan Gerkey 07
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Installation and configuration

• System requirements
• Standard Linux box
• Native Windows version planned
• Installing
• Package distribution
• Source compilation
• CVS

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A Windows solution

• Virtualization.
• Any host Linux P/S guest.
• Free (not open) Virtual Machine software.
• Full-equipped Linux on a CD (or website).
• System requirements
• Non-administrative user account
• Modern CPU
• 1 GB RAM, 10 GB hard disk

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Setting up a scenario

• World
• Bitmap / vector map
• Models
• Mobile platforms
• Sensors
• Configuration
• Devices and interfaces
• Algorithms

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Warehouse fire in 1999 in Worcester
(USA)? http//www.usfa.dhs.gov/downloads/pdf/publi
cations
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• Configuration file
• World file
• Map file

Warehouse fire in 1999 in Worcester
(USA)? http//www.usfa.dhs.gov/downloads/pdf/publi
cations
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Conclusion and future work

• Player abstraction layer for development.
• Player robot device interface.
• Stage 2D simulator.
• Player algorithm repository.
• Installation on any host computer.
• Definition of scenarios in Guardians.

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Conclusion and future work