TY - GEN
T1 - Introducing a 3D physics simulation plugin for the ARGoS robot simulator
AU - Redpath, Richard
AU - Timmis, Jon
AU - Trefzer, Martin A.
PY - 2016
Y1 - 2016
N2 - We present a plugin for the ARGoS robot simulator which enables the use of 3D physics simulation and definition of objects and entities without the need to develop new entities in C++. We provide the facility for entities to be loaded and added to simulations using a URDF inspired XML format. Loading of entities, physics simulation and rendering is all handled by the plugin, removing the need for knowledge of specific engines or OpenGL. This paves the way for ARGoS to be used not only for development and evaluation of controllers but also for evolution of robot morphologies and co-evolution of controllers and morphologies which was previously not possible without a considerable development overhead.
AB - We present a plugin for the ARGoS robot simulator which enables the use of 3D physics simulation and definition of objects and entities without the need to develop new entities in C++. We provide the facility for entities to be loaded and added to simulations using a URDF inspired XML format. Loading of entities, physics simulation and rendering is all handled by the plugin, removing the need for knowledge of specific engines or OpenGL. This paves the way for ARGoS to be used not only for development and evaluation of controllers but also for evolution of robot morphologies and co-evolution of controllers and morphologies which was previously not possible without a considerable development overhead.
UR - http://www.scopus.com/inward/record.url?scp=84977471277&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-40379-3_27
DO - 10.1007/978-3-319-40379-3_27
M3 - Conference contribution
AN - SCOPUS:84977471277
SN - 9783319403786
VL - 9716
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 269
EP - 274
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PB - Springer
T2 - 17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016
Y2 - 26 June 2016 through 1 July 2016
ER -