Autor(es):
Machado, Toni Daniel Neto 
; Sousa, Miguel ; Monteiro, Sérgio ; Bicho, E.
Data: 2012
Identificador Persistente: http://hdl.handle.net/1822/18910
Origem: RepositóriUM - Universidade do Minho
Assunto(s): 3D robotic simulator; Mobile robotics
Descrição
This paper presents CoopDynSim, a multi-robot 3D
simulator. The main motivations for the development of a new
simulation software lie in the need to emulate specific, custom
made sensors, combined with the desire to smoothly transfer
controller code from simulation to real implementation. The
latter is achieved through the use of the same middleware layer
already implemented in the real platforms. The high modularity
of the solution allows the user to easily add new components or
design new platforms. By having independent simulation threads
for each robot, distributed control algorithms can easily be tested,
abetted by a socket based connection, granting the possibility
for an asynchronous, over the network, controller architecture.
The ability to run simulations in real or simulated time, as
well as a play back option, represent valuable features of the
software. The simulator has been used in several projects, with
different platforms and distinct control applications, proving it
as a heterogeneous and flexible solution. Furthermore, its usage
as a teaching tool in a robotics’ summer school as well as
in an introductory robotics class in our university, upholds its
simplicity and user-friendliness.
