Design and analysis of an E-Puck2 robot plug-in for the ARGoS simulator

ARGoS; Computer simulations; E-puck2; Sensors; Swarm robotic; Design and analysis; Graphical representations; One-time; Plug-ins; Robot modeling; Robotic simulator; Sensors and actuators; Swarm robotics; Control and Systems Engineering; Software; Computer Science Applications; General Mathematics; HPC

Abstract :

[en] In this article we present a new plug-in for the ARGoS swarm robotic simulator to implement the E-Puck2 robot model, including its graphical representation, sensors and actuators. We have based our development on the former E-Puck robot model (version 1) by upgrading the existing sensors (proximity, light, ground, camera, and battery) and adding new ones (time of flight and simulated encoders) implemented from scratch. We have adapted the values produced by the proximity, light and ground sensors, including the E-Puck2's onboard camera according to its resolution, and proposed four new discharge models for the battery. We have evaluated this new plug-in in terms of accuracy and efficiency through comparisons with real robots and extensive simulations. In all our experiments the proposed plug-in has worked well showing high levels of accuracy. The observed increment of execution times when using the studied sensors varies according to the number of robots and types of sensors included in the simulation, ranging from a negligible impact to 53% longer simulations in the most demanding cases.

Research center :

Interdisciplinary Centre for Security, Reliability and Trust (SnT) > PCOG - Parallel Computing & Optimization Group

Disciplines :

Computer science

Author, co-author :

STOLFI ROSSO, Daniel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > PCOG

DANOY, Grégoire ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)

External co-authors :

Language :

English

Title :

Design and analysis of an E-Puck2 robot plug-in for the ARGoS simulator

Publication date :

June 2023

Journal title :

Robotics and Autonomous Systems

ISSN :

0921-8890

Publisher :

Elsevier B.V.

Volume :

164

Pages :

104412

Peer reviewed :

Peer Reviewed verified by ORBi

Additional URL :

https://api.elsevier.com/content/article/PII:S0921889023000519?httpAccept=text/xml

FnR Project :

FNR14762457 - Automating The Design Of Autonomous Robot Swarms, 2020 (01/05/2021-30/04/2024) - Gregoire Danoy

Name of the research project :

R-AGR-3933 - C20/IS/14762457/ADARS (01/05/2021 - 30/04/2024) - DANOY Grégoire

Funders :

Fonds National de la Recherche Luxembourg

Funding number :

C20/IS/14762457

Funding text :

This work is supported by the Luxembourg National Research Fund (FNR) – ADARS Project , ref. C20/IS/14762457.

Available on ORBilu :

since 16 November 2023

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