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| description |
Simulation has become an essential part in the development process
of autonomous robotic systems. In the domain of robotics, developers
often are confronted with problems like noisy sensor data, hardware
malfunctions and scarce or temporarily inoperable hardware
resources. A solution to most of the problems can be given by tools
which allow the simulation of the application scenario in varying
degrees of abstraction and the suppression of unwanted features of
the domain (like e.g. sensor noise). The RoboCup scenario of
autonomous mobile robots playing soccer is one such domain where the
above mentioned problems typically arise.
In this work we will present a flexible simulation platform for the
RoboCup F2000 league developed as a joint open source project by the
universities of Freiburg and Stuttgart which achieves a maximum
degree of modularity by a plugin based architecture and allows teams
to easily develop and share software modules for the simulation of
different sensors, kinematics and even complete player behaviors.
Moreover we show how plugins can be utilized to implement benchmark
tasks for multi robot learning and give an example that demonstrates
how the generic plugin approach can be extended towards the
implementation of hardware independent algorithms for robot
localization.
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| publisher |
Padova, Italy: Springer
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| type |
Text
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| Article in Proceedings
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| source |
In: Proceedings of the International RoboCup Symposium '03
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| ftp://ftp.informatik.uni-stuttgart.de/pub/library/ncstrl.ustuttgart_fi/INPROC-2003-38/INPROC-2003-38.pdf
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| contributor |
IPVS, Bildverstehen
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| format |
application/pdf
| | 352517 Bytes
| | subject |
Software Engineering Software Architectures (CR D.2.11)
| | Simulation and Modeling Applications (CR I.6.3)
| | Types of Simulation (CR I.6.8)
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