Abstract
Realtime simulation of RoboCup small size soccer robots is a challenging task due to the high frame rate of input vision data and complex dynamic model of robots. In this paper we describe a new multi-robot 3D simulator for small size robot soccer domain named ‘grSim’. In order to decrease the model complexity and increase simulation speed, a simplified dynamic model for omni wheels is implemented. grSim has a distributed architecture, feature-rich user interface and supports all aspects of a small size robot soccer game, thus it can completely replace all hardware used by teams during software development. grSim can help software/AI developers design smarter SSL robot teams.
Chapter PDF
Similar content being viewed by others
References
OpenGL - The industry standard for high performance graphics (2011), http://www.opengl.org/ (accessed January 2011)
RoboCup - official website (2011), http://www.robocup.org/ (accessed January 2011)
Small Size Robot League - official website (2011), http://small-size.informatik.uni-bremen.de/ (accessed January 2011)
The Player Project - free software tools for robot and sensor applications (2011), http://playerstage.sourceforge.net/ (accessed January 2011)
Baillie, J.: Urbi: Towards a universal robotic low-level programming language. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp. 820–825. IEEE (2005)
Browning, B., Tryzelaar, E.: Übersim: A multi-robot simulator for robot soccer. In: Proceedings of the Second International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 948–949 (2003)
RoboCup Small Size League Technical Committee: RoboCup Small Size League Rules (2011), http://small-size.informatik.uni-bremen.de/rules:main (accessed January 2011)
Cyberbotics: Webots, fast prototyping and simulation of mobile robots (2011), http://www.cyberbotics.com/ (accessed January 2011)
Gerkey, B., Vaughan, R., Howard, A.: The Player/Stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (January 2003)
Go, J., Browning, B., Veloso, M.: Accurate and flexible simulation for dynamic, vision-centric robots. In: Proceedings of International Joint Conference on Autonomous Agents and Multi-Agent Systems, AAMAS 2004 (2004)
Google Inc.: Protocol buffers - google’s data interchange format (2011), http://code.google.com/p/protobuf/ (accessed January 2011)
Gostai Ltd.: Urbi - The universal platform (2011), http://www.gostai.com/urbi.php (accessed January 2011)
Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), vol. 3, pp. 2149–2154. IEEE (2005)
Koenig, N., Howard, A.: Gazebo - 3D multiple robot simulator with dynamics (2011), http://playerstage.sourceforge.net/gazebo/gazebo.html (accessed January 2011)
Laue, T., Spiess, K., Röfer, T.: SimRobot – A General Physical Robot Simulator and its Application in RoboCup. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 173–183. Springer, Heidelberg (2006)
Michel, O.: Cyberbotics Ltd. Webots TM: Professional mobile robot simulation. International Journal of Advanced Robotic Systems 1(1), 39–42 (2004)
Nokia Inc.: Qt - A cross-platform application and UI framework (2011), http://qt.nokia.com/ (accessed January 2011)
Poorjandaghi, S., Monajjemi, V., Mehrabi, V., Nabi, M., Koochakzadeh, A., Atashzar, F., Omidi, E., Pahlavani, A., Sheikhi, E., Bahmand, A., Mohaimanian, M., Saeidi, A., Shamipour, S., Karkon, R.: Parsian - Amirkabir university of technology RoboCup small size soccer team. Team Description Paper for RoboCup (February 2011)
Smith, R.: ODE - Open Dynamics Engine (2011), http://www.ode.org/ (accessed January 2011)
Zickler, S.: Vartypes - A feature-rich, object-oriented framework for managing variables in C++ / QT4 (2011), http://code.google.com/p/protobuf/ (accessed January 2011)
Zickler, S., Laue, T., Birbach, O., Wongphati, M., Veloso, M.: SSL-Vision: The Shared Vision System for the RoboCup Small Size League. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS (LNAI), vol. 5949, pp. 425–436. Springer, Heidelberg (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Monajjemi, V., Koochakzadeh, A., Ghidary, S.S. (2012). grSim – RoboCup Small Size Robot Soccer Simulator. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science(), vol 7416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32060-6_38
Download citation
DOI: https://doi.org/10.1007/978-3-642-32060-6_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32059-0
Online ISBN: 978-3-642-32060-6
eBook Packages: Computer ScienceComputer Science (R0)