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2017 | OriginalPaper | Chapter

A Case Study on the Performance of Gazebo with Multi-core CPUs

Authors : Hai Yang, Xuefei Wang

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

Gazebo has become a popular platform for the simulation of robots and their working environment. However, it is inefficient as the number of robots increases or when the environment becomes more complex. In this paper, we investigate the program hotspot (the most time consuming program units) of two typical cases using the Intel VTune Amplifier. The results show that the simulation time increases quadratically with respect to the number of robots in the swarm robots scenario, and increases linearly as the complexity of environment becomes higher in the large-scale campus scenario.

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previous chapter GSDF: A Generic Development Framework for Swarm Robotics
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Metadata
Title
A Case Study on the Performance of Gazebo with Multi-core CPUs
Authors
Hai Yang
Xuefei Wang
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65288-7

Electronic ISBN: 978-3-319-65289-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65289-4_63

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