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    A Framework for Visually Realistic Multi-robot Simulation in Natural Environment

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    Author
    Ganoni O
    Mukundan R
    Date
    2017
    Permanent Link
    http://hdl.handle.net/10092/14677

    This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and depth sensor outputs from any position and orientation within the environment and provides several key domain specific simulation capabilities. Various components and functionalities of the system have been discussed in detail. The simulation engine also allows users to test and validate a wide range of computer vision algorithms involving different drone configurations under many types of environmental effects such as wind gusts. The paper demonstrates the effectiveness of the system by giving experimental results for a test scenario where one drone tracks the simulated motion of another in a complex natural environment.

    Subjects
    Robot simulation
     
    Drone simulation
     
    Natural environment models
     
    Natural feature tracking
     
    Unreal Engine 4 (UE4)
     
    Field of Research::08 - Information and Computing Sciences::0801 - Artificial Intelligence and Image Processing::080111 - Virtual Reality and Related Simulation
     
    Field of Research::08 - Information and Computing Sciences::0801 - Artificial Intelligence and Image Processing::080110 - Simulation and Modelling
     
    Field of Research::09 - Engineering::0906 - Electrical and Electronic Engineering::090602 - Control Systems, Robotics and Automation
    Collections
    • Engineering: Conference Contributions [2012]

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