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grSim – RoboCup Small Size Robot Soccer Simulator

  • Conference paper

Part of the Lecture Notes in Computer Science book series (LNAI,volume 7416)


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.


  • Multi Robot Simulator
  • RoboCup Small Size League
  • Omni-directional robot modeling


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© 2012 Springer-Verlag Berlin Heidelberg

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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.

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  • 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)