Lenka Pitonakova
Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators
Pitonakova, Lenka; Giuliani, Manuel; Pipe, Anthony; Winfield, Alan
Authors
Manuel Giuliani Manuel.Giuliani@uwe.ac.uk
Co- Director Bristol Robotics Laboratory
Tony Pipe Anthony.Pipe@uwe.ac.uk
Professor
Alan Winfield Alan.Winfield@uwe.ac.uk
Professor in Robotics
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.
Citation
Pitonakova, L., Giuliani, M., Pipe, A., & Winfield, A. (2018). Feature and performance comparison of the V-REP, Gazebo and ARGoS robot simulators. Lecture Notes in Artificial Intelligence, 10965 LNAI, 357-368. https://doi.org/10.1007/978-3-319-96728-8_30
Journal Article Type | Conference Paper |
---|---|
Conference Name | Annual Conference Towards Autonomous Robotic Systems (TAROS) |
Conference Location | Bristol |
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 |
Electronic ISSN | 1611-3349 |
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. |
Files
simulatorsComparison.pdf
(634 Kb)
PDF
You might also like
Usability study of a novel triple-arm mixed-reality robot teleoperation system
(2023)
Conference Proceeding
Measuring visual social engagement from proxemics and gaze
(2022)
Conference Proceeding
User requirements for a robot teleoperation system for general medical examination
(2022)
Conference Proceeding
Demo: Untethered haptic teleoperation for nuclear decommissioning using a low-power wireless control technology
(2022)
Conference Proceeding
Downloadable Citations
About UWE Bristol Research Repository
Administrator e-mail: repository@uwe.ac.uk
This application uses the following open-source libraries:
SheetJS Community Edition
Apache License Version 2.0 (http://www.apache.org/licenses/)
PDF.js
Apache License Version 2.0 (http://www.apache.org/licenses/)
Font Awesome
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2024
Advanced Search