Simulating Multi-Million-Robot Ensembles

摘要：

Various research efforts have focused on scaling modular robotic systems up to millions of cooperating devices. However, such efforts have been hampered by the lack of prototype hardware in such quantities and the unavailability of accurate and highly scalable simulations. This paper describes a simulation framework for such systems, which can model the execution of distributed software and the physical interaction between modules. We develop a scalable, multithreaded version of an off-the-shelf physics engine, and create a software execution engine that can efficiently harness hundreds of cores in a cluster of commodity machines. Our approach is shown to run 108x faster than a previous scalable simulator, and permit simulations with over 20 million modules.

作者: Michael P. Ashley-Rollman Padmanabhan Pillai Michelle L. Goodstein

作者单位: Carnegie Mellon University Pittsburgh,PA 15213 Intel Labs Pittsburgh Pittsburgh,PA 15213

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1006-1013

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）