Simulating Complex Robotic Scenarios with MORSE

Echeverria, Gilberto; Lemaignan, Séverin; Degroote, Arnaud; Lacroix, Simon; Karg, Michael; Koch, Peter; Lesire, Charles; Stinckwich, Serge

doi:10.1007/978-3-642-34327-8_20

Cited by 56 publications

(27 citation statements)

References 16 publications

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“…Real flights being quite expensive, we also extensively tested our AMPLE strategy with realistic simulations embedding computer vision algorithms (Echeverria et al, 2012). Figure 4 shows the map built during a real flight experiment over a small village.…”

Section: Resultsmentioning

confidence: 99%

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

et al. 2018

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Acting in robotics is driven by reactive and deliberative reasonings which take place in the competition between execution and planning processes. Properly balancing reactivity and deliberation is still an open question for harmonious execution of deliberative plans in complex robotic applications. We propose a flexible algorithmic framework to allow continuous real-time planning of complex tasks in parallel of their executions. Our framework, named AMPLE, is oriented towards robotic modular architectures in the sense that it turns planning algorithms into services that must be generic, reactive, and valuable. Services are optimized actions that are delivered at precise time points following requests from other modules that include states and dates at which actions are needed. To this end, our framework is divided in two concurrent processes: a planning thread which receives planning requests and delegates action selection to embedded planning softwares in compliance with the queue of internal requests, and an execution thread which orchestrates these planning requests as well as action execution and state monitoring. We show how the behavior of the execution thread can be parametrized to achieve various strategies which can differ, for instance, depending on the distribution of internal planning requests over possible future execution states in anticipation of the uncertain evolution of the system, or over different underlying planners to take several levels into account. We demonstrate the flexibility and the relevance of our framework on various robotic benchmarks and real experiments that involve complex planning problems of different natures which could not be properly tackled by existing dedicated planning approaches which rely on the standard plan-then-execute loop.

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Section: Resultsmentioning

confidence: 99%

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

et al. 2018

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“…Prototyping work often uses "standard" robot simulators such as USARSim [14] (commonly used for rescue robotics applications but also beyond), or Gazebo [11] (though Gazebo's human agent support is currently limited) and MORSE [2].…”

Section: Hri and Simulationmentioning

confidence: 99%

“…In particular, we feel that it must be both easy to install and use, and offer adequate domain abstractions to facilitate development and integration. This paper presents how recent work using the Modular OpenRobots Simulation Engine [2] (MORSE, figure 1) attempts to address this challenge.…”

Section: Introductionmentioning

confidence: 99%

Simulation and HRI Recent Perspectives with the MORSE Simulator

Lemaignan

Hanheide

Karg

et al. 2014

Simulation, Modeling, and Programming for Autonomous Robots

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Abstract. Simulation in robotics is often a love-hate relationship: while simulators do save us a lot of time and effort compared to regular deployment of complex software architectures on complex hardware, simulators are also known to evade many of the real issues that robots need to manage when they enter the real world. Because humans are the paragon of dynamic, unpredictable, complex, real world entities, simulation of human-robot interactions may look condemn to fail, or, in the best case, to be mostly useless. This collective article reports on five independent applications of the MORSE simulator in the field of human-robot interaction: It appears that simulation is already useful, if not essential, to successfully carry out research in the field of HRI, and sometimes in scenarios we do not anticipate.

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“…The community has been working at developing simulators that can accurately simulate real world environments. Some representative projects are Stage [20], Webots [21], V-REP [22], Gazebo [23] and MORSE [24].…”

Section: Introductionmentioning

confidence: 99%

Building a ROS-Based Testbed for Realistic Multi-Robot Simulation: Taking the Exploration as an Example

Yan

Fabresse

Laval³

et al. 2017

Robotics

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While the robotics community agrees that the benchmarking is of high importance to objectively compare different solutions, there are only few and limited tools to support it. To address this issue in the context of multi-robot systems, we have defined a benchmarking process based on experimental designs, which aimed at improving the reproducibility of experiments by making explicit all elements of a benchmark such as parameters, measurements and metrics. We have also developed a ROS (Robot Operating System)-based testbed with the goal of making it easy for users to validate, benchmark, and compare different algorithms including coordination strategies. Our testbed uses the MORSE (Modular OpenRobots Simulation Engine) simulator for realistic simulation and a computer cluster for decentralized computation. In this paper, we present our testbed in details with the architecture and infrastructure, the issues encountered in implementing the infrastructure, and the automation of the deployment. We also report a series of experiments on multi-robot exploration, in order to demonstrate the capabilities of our testbed.

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Simulating Complex Robotic Scenarios with MORSE

Cited by 56 publications

References 16 publications

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

AMPLE: an anytime planning and execution framework for dynamic and uncertain problems in robotics

Simulation and HRI Recent Perspectives with the MORSE Simulator

Building a ROS-Based Testbed for Realistic Multi-Robot Simulation: Taking the Exploration as an Example

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