MR-simulator: a simulator for the mixed reality competition of RoboCup

Authors:
Marco A. C. Simões;Josemar Rodrigues de Souza;Fagner de Assis Moura Pimentel;Diego Frias
Affiliations:
Bahia State University, ACSO/UNEB, Salvador, BA, Brazil;Bahia State University, ACSO/UNEB, Salvador, BA, Brazil and Integrated Center of Manufacture and Technology, SENAI-CIMATEC, Salvador, BA, Brazil;Bahia State University, ACSO/UNEB, Salvador, BA, Brazil;Bahia State University, ACSO/UNEB, Salvador, BA, Brazil
Venue:
RoboCup 2010
Year:
2011

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Abstract

Simulations play an important roll in the development of intelligent and collaborative robots. In this paper we describe the development of a simulator for the RoboCup Mixed Reality (MR) competition. MR uses a mix of simulated and real world to foster intelligent robotics development. Our simulator "virtualizes" the players within the MR hardware and software framework, providing the game server with the player-positional information usually supplied by the central vision system. To do that the simulator, after receiving the action commands from each agent (player) must track its expected trajectory and behavior in collision events for all the players. We developed fast algorithms for simulating the robot motion in most usual cases. The simulator was validated comparing its results against the real environment and proved to be realistic. This tool is important for setting-up, training and testing MR competition teams and could help to overcome current difficulties with robot hardware acquisition and maintenance.