Multi-Robot Simulation Framework

摘要

In this paper a general robot simulation framework is created, called RobotCore. The simulation is mostly used to provide experimental results to theoretical analysis for multi-robot systems. However, in certain cases, theoretical analysis can be difficult and it might be more adequate to check the effectiveness of different methods in those experiments before analyzing them. The framework provides a three-dimensional visualizer, to depict the movements and actions of the robots. Moreover, this visualizer can be used to upgrade or debug the algorithms while they are running. Additionally, the framework includes a component for extensive testing on vast number of test scenarios.