RING: a client-server system for multi-user virtual environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
A Software System for Robotic Learning by Experimentation
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
A Software System for Robotic Learning by Experimentation
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
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In this paper, we present XPERSim, a 3D simulator built on top of open source components that enables users to quickly and easily construct an accurate and photo-realistic simulation for robots of arbitrary morphology and their environments. While many existing robot simulators provide a good dynamics simulation, they often lack the high quality visualization that is now possible with general-purpose hardware. XPERSim achieves such visualization by using the Object-Oriented Graphics Rendering Engine 3D (Ogre) engine to render the simulation whose dynamics are calculated using the Open Dynamics Engine (ODE). Through XPERSim's integration into a component-based software integration framework used for robotic learning by experimentation, XPERSIF, and the use of the scene-oriented nature of the Ogre engine, the simulation is distributed to numerous users that include researchers and robotic components, thus enabling simultaneous, quasi-realtime observation of the multiple-camera simulations.