Title: A framework for visually realistic multi-robot simulation in natural environment
Authors: Ganoni, Ori
Mukundan, Ramakrishnan
Citation: WSCG 2017: full papers proceedings: 25th International Conference in Central Europe on Computer Graphics, Visualization and Computer Visionin co-operation with EUROGRAPHICS Association, p. 29-36.
Issue Date: 2017
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: wscg.zcu.cz/WSCG2017/!!_CSRN-2701.pdf
ISBN: 978-80-86943-44-2
ISSN: 2464–4617 (print)
2464–4625 (CD-ROM)
Keywords: robotická simulace;simulace dronem;modely přírodního prostředí;sledování přirozených funkcí;Unreal Engine 4
Keywords in different language: robot simulation;drone simulation;natural environment models;natural feature tracking;Unreal Engine 4
Abstract: 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.
Rights: © Václav Skala - UNION Agency
Appears in Collections:WSCG 2017: Full Papers Proceedings

Files in This Item:
File Description SizeFormat 
Ganoni.pdfPlný text8,14 MBAdobe PDFView/Open

Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/29542

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.