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

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


Lenka Pitonakova


© 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.


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.

Journal Article Type Conference Paper
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
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
Keywords feature, performance, comparison, V-REP, Gazebo, ARGoS, robot simulators
Public URL
Publisher URL
Additional Information Additional Information : The final publication is available at Springer via
Title of Conference or Conference Proceedings : Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science, vol 10965.


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