Modular Open Robots Simulation Engine: MORSE
This paper presents MORSE, a new open–source robotics simulator. MORSE provides several features of interest to robotics projects: it relies on a component-based architecture to simulate sensors, actuators and robots; it is flexible, able to specify simulations at variable levels of abstraction according to the systems being tested; it is capable of representing a large variety of heterogeneous robots and full 3D environments (aerial, ground, maritime); and it is designed to allow simulations of multiple robots systems. MORSE uses a “Softwarein- the-Loop philosophy, i.e. it gives the possibility to evaluate the algorithms embedded in the software architecture of the robot within which they are to be integrated. Still, MORSE is independent of any robot architecture or communication framework (middleware). MORSE is built on top of Blender, using its powerful features and extending its functionality through Python scripts. Simulations are executed on Blender’s Game Engine mode, which provides a realistic graphical display of the simulated environments and allows exploiting the reputed Bullet physics engine. This paper presents the conception principles of the simulator and some use–case illustrations.
Gilberto Echeverria Nicolas Lassabe Arnaud Degroote S(e)verin Lemaignan
RTRA STAE,23 avenue Edouard Belin,31400 Toulouse,France ONERA Centre de Toulouse - DCSD,2 avenue douard Belin,F-31055 Toulouse,France CNRS,LAAS,7 avenue du colonel Roche,F-31077 Toulouse,France and Universit(e) de Toulouse,UPS,INSA,IN
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
46-51
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）