publication . Conference object . Preprint . 2017

A framework for visually realistic multi-robot simulation in natural environment

Ganoni, Ori; Mukundan, Ramakrishnan;
Open Access English
  • Published: 06 Aug 2017
  • Publisher: Václav Skala - UNION Agency
  • Country: Czech Republic
Abstract
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and depth sensor outputs from any position and orientation within the environment and provides several key domain specific simulation capabilities. Various components and functionalities of the system have been discussed in detail. The simulation engine also allows users to test and validate a wide range of computer vision algorithms involving different drone configurations under many types of environmental effects such as wind gust...
Subjects
free text keywords: robotická simulace, simulace dronem, modely přírodního prostředí, sledování přirozených funkcí, Unreal Engine 4, robot simulation, drone simulation, natural environment models, natural feature tracking, Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Related Organizations
27 references, page 1 of 2

[1] Ardupilot fork. https://github.com/orig74/ardupilot.

[2] Drone tracking drone in dronesimlab. https://youtu.be/Mj9xZECG40Q.

[3] Dronesimlab. https://github.com/orig74/DroneSimLab.

[4] flightgear. http://www.flightgear.org.

[5] gazebo. http://gazebosim.org.

[6] Github. https://github.com.

[7] jmavsim. https://pixhawk.org/dev/hil/jmavsim.

[8] Px4 firmware fork. https://github.com/orig74/Firmware.

[9] Scene capture 2d. https://docs.unrealengine.com/latest/INT/Resources /ContentExamples/Reflections/1_7.

[10] Ue4pyserver. https://github.com/orig74/UE4PyServer.

[11] Unreal engine 4 with python & opencv. https://youtu.be/q8kAooRaf7g.

[12] X-plane. http://www.x-plane.com/.

[13] Ilya Afanasyev, Artur Sagitov, and Evgeni Magid. Ros-based slam for a gazebo-simulated mobile robot in image-based 3d model of indoor environment. In International Conference on Advanced Concepts for Intelligent Vision Systems, pages 273-283. Springer, 2015.

[14] Jean-Yves Bouguet. Pyramidal implementation of the affine lucas kanade feature tracker description of the algorithm. Intel Corporation, 5(1-10):4, 2001.

[15] G. Bradski. The opencv library. Dr. Dobb's Journal of Software Tools, 2000.

27 references, page 1 of 2
Abstract
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and depth sensor outputs from any position and orientation within the environment and provides several key domain specific simulation capabilities. Various components and functionalities of the system have been discussed in detail. The simulation engine also allows users to test and validate a wide range of computer vision algorithms involving different drone configurations under many types of environmental effects such as wind gust...
Subjects
free text keywords: robotická simulace, simulace dronem, modely přírodního prostředí, sledování přirozených funkcí, Unreal Engine 4, robot simulation, drone simulation, natural environment models, natural feature tracking, Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Related Organizations
27 references, page 1 of 2

[1] Ardupilot fork. https://github.com/orig74/ardupilot.

[2] Drone tracking drone in dronesimlab. https://youtu.be/Mj9xZECG40Q.

[3] Dronesimlab. https://github.com/orig74/DroneSimLab.

[4] flightgear. http://www.flightgear.org.

[5] gazebo. http://gazebosim.org.

[6] Github. https://github.com.

[7] jmavsim. https://pixhawk.org/dev/hil/jmavsim.

[8] Px4 firmware fork. https://github.com/orig74/Firmware.

[9] Scene capture 2d. https://docs.unrealengine.com/latest/INT/Resources /ContentExamples/Reflections/1_7.

[10] Ue4pyserver. https://github.com/orig74/UE4PyServer.

[11] Unreal engine 4 with python & opencv. https://youtu.be/q8kAooRaf7g.

[12] X-plane. http://www.x-plane.com/.

[13] Ilya Afanasyev, Artur Sagitov, and Evgeni Magid. Ros-based slam for a gazebo-simulated mobile robot in image-based 3d model of indoor environment. In International Conference on Advanced Concepts for Intelligent Vision Systems, pages 273-283. Springer, 2015.

[14] Jean-Yves Bouguet. Pyramidal implementation of the affine lucas kanade feature tracker description of the algorithm. Intel Corporation, 5(1-10):4, 2001.

[15] G. Bradski. The opencv library. Dr. Dobb's Journal of Software Tools, 2000.

27 references, page 1 of 2
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publication . Conference object . Preprint . 2017

A framework for visually realistic multi-robot simulation in natural environment

Ganoni, Ori; Mukundan, Ramakrishnan;