Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators

Pitonakova, Lenka; Giuliani, Manuel; Pipe, Anthony; Winfield, Alan

Abstract

© Springer International Publishing AG, part of Springer Nature 2018. In this paper, the characteristics and performance of three open-source simulators for robotics, V-REP, Gazebo and ARGoS, are thoroughly analysed and compared. While they all allow for programming in C++, they also represent clear alternatives when it comes to the trade-off between complexity and performance. Attention is given to their built-in features, robot libraries, programming methods and the usability of their user interfaces. Benchmark test results are reported in order to identify how well the simulators can cope with environments of varying complexity. The richness of features of V-REP and the strong performance of Gazebo and ARGoS in complex scenes are highlighted. Various usability issues of Gazebo are also noted.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: Annual Conference Towards Autonomous Robotic Systems (TAROS)
• Start Date: Jun 7, 2019
• End Date: Jun 7, 2019
• Acceptance Date: Feb 1, 2018
• Online Publication Date: Jul 21, 2018
• Publication Date: Jan 1, 2018
• Deposit Date: Aug 29, 2018
• Publicly Available Date: Aug 29, 2018
• Journal: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
• Print ISSN: 0302-9743
• Publisher: Springer Verlag
• Peer Reviewed: Peer Reviewed
• Volume: 10965 LNAI
• Pages: 357-368
• Book Title: Towards Autonomous Robotic Systems
• ISBN: 9783319967271
• DOI: https://doi.org/10.1007/978-3-319-96728-8_30
• Keywords: feature, performance, comparison, V-REP, Gazebo, ARGoS, robot simulators
• Public URL: https://uwe-repository.worktribe.com/output/863937
• Publisher URL: http://dx.doi.org/10.1007/978-3-319-96728-8_30
• Additional Information: Additional Information : The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-96728-8_30; Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science, vol 10965.
• Contract Date: Aug 29, 2018