MultiVehicle Simulator (MVSim): Lightweight dynamics simulator for multiagents and mobile robotics research
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Blanco Claraco, José Luis![University of Almería authority University of Almería authority](/themes/Mirage2/images/autoridades/autoridad.png)
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Date
2023Abstract
Development of applications related to closed-loop control requires either testing on the field or on
a realistic simulator, with the latter being more convenient. To ease that need, this work introduces
MVSim, a simulator for multiple vehicles or robots capable of running in real time dozens of agents
in simple scenarios, or a handful of them in complex scenarios. MVSim employs realistic physicsgrounded
friction models for tire–ground interaction, and aims at accurate and GPU-accelerated
simulation of most common modern sensors employed in mobile robotics and autonomous vehicle
research, such as depth and RGB cameras, or 2D and 3D LiDAR scanners. All depth-related sensors
are able to accurately measure distances to 3D models provided by the user to define custom world
elements. Efficient simulation is achieved by means of focusing on ground vehicles, which allows the
use of a simplified 2D physics engine for body collisions while solving wheel–ground interaction forces
separ...
Palabra/s clave
mobile robotics