IEEE Transactions on Systems, Man and Cybernetics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Simulating complex robotic scenarios with MORSE
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
SwarmSimX: real-time simulation environment for multi-robot systems
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Towards a real-time interface between a biomimetic model of sensorimotor cortex and a robotic arm
Pattern Recognition Letters
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From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a modular and decentralized architecture for robotics simulation. In contrast to centralized approaches, this balances functionality, provides more diversity, and simplifies connectivity between (independent) calculation modules. As the Virtual Robot Experimentation Platform (V-REP) demonstrates, this gives a smallfootprint 3D robot simulator that concurrently simulates control, actuation, sensing and monitoring. Its distributed and modular approach are ideal for complex scenarios in which a diversity of sensors and actuators operate asynchronously with various rates and characteristics. This allows for versatile prototyping applications including systems verification, safety/remote monitoring, rapid algorithm development, and factory automation simulation.