Ganoni OMukundan RSkala V2017-12-042017-12-042017Ganoni O, Mukundan R (2017). A Framework for Visually Realistic Multi-robot Simulation in Natural Environment. Plzen, Czech Republic: 25th International Conference on Computer Graphics, Visualization and Computer Vision 2017. 29/05/2017-02/06/2017. Journal of WSCG.1213-6972http://hdl.handle.net/10092/14677This 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.enPermission to upload on UC Repository granted by Professor Vaclav Skala, 11/11/17Robot simulationDrone simulationNatural environment modelsNatural feature trackingUnreal Engine 4 (UE4)Conference Contributions - Published2017-07-16Field of Research::08 - Information and Computing Sciences::0801 - Artificial Intelligence and Image Processing::080111 - Virtual Reality and Related SimulationFields of Research::46 - Information and computing sciences::4602 - Artificial intelligence::460207 - Modelling and simulationField of Research::09 - Engineering::0906 - Electrical and Electronic Engineering::090602 - Control Systems, Robotics and Automation