Virtual robot experimentation platform V-REP: A versatile 3D robot simulator

Marc Freese, Surya Singh, Fumio Ozaki, Nobuto Matsuhira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

104 Citations (Scopus)

Abstract

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 small-footprint 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.

Original languageEnglish
Title of host publicationSimulation, Modeling, and Programming for Autonomous Robots - Second International Conference, SIMPAR 2010, Proceedings
Pages51-62
Number of pages12
DOIs
Publication statusPublished - 2010 Dec 23
Event2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2010 - Darmstadt, Germany
Duration: 2010 Nov 152010 Nov 18

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume6472 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2010
CountryGermany
CityDarmstadt
Period10/11/1510/11/18

Keywords

  • Distributed Control
  • Robot Simulator
  • V-REP

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Freese, M., Singh, S., Ozaki, F., & Matsuhira, N. (2010). Virtual robot experimentation platform V-REP: A versatile 3D robot simulator. In Simulation, Modeling, and Programming for Autonomous Robots - Second International Conference, SIMPAR 2010, Proceedings (pp. 51-62). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6472 LNAI). https://doi.org/10.1007/978-3-642-17319-6_8