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Erschienen in:

01.12.2012

ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems

verfasst von: Carlo Pinciroli, Vito Trianni, Rehan O’Grady, Giovanni Pini, Arne Brutschy, Manuele Brambilla, Nithin Mathews, Eliseo Ferrante, Gianni Di Caro, Frederick Ducatelle, Mauro Birattari, Luca Maria Gambardella, Marco Dorigo

Erschienen in: Swarm Intelligence | Ausgabe 4/2012

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Abstract

We present a novel multi-robot simulator named ARGoS. ARGoS is designed to simulate complex experiments involving large swarms of robots of different types. ARGoS is the first multi-robot simulator that is at the same time both efficient (fast performance with many robots) and flexible (highly customizable for specific experiments). Novel design choices in ARGoS have enabled this breakthrough. First, in ARGoS, it is possible to partition the simulated space into multiple sub-spaces, managed by different physics engines running in parallel. Second, ARGoS’ architecture is multi-threaded, thus designed to optimize the usage of modern multi-core CPUs. Finally, the architecture of ARGoS is highly modular, enabling easy addition of custom features and appropriate allocation of computational resources. We assess the efficiency of ARGoS and showcase its flexibility with targeted experiments. Experimental results demonstrate that simulation run-time increases linearly with the number of robots. A 2D-dynamics simulation of 10,000 e-puck robots can be performed in 60 % of the time taken by the corresponding real-world experiment. We show how ARGoS can be extended to suit the needs of an experiment in which custom functionality is necessary to achieve sufficient simulation accuracy. ARGoS is open source software licensed under GPL3 and is downloadable free of charge.

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Each machine has two AMD Opteron Magny-Cours processors type 6128, each processor with 8 cores. The total size of the RAM is 16 GB.

However, the sense+control and act phases are still executed in parallel.

With N=10⁵ robots, ARGoS used about 800 MB of RAM.

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Titel: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems
verfasst von: Carlo Pinciroli
Vito Trianni
Rehan O’Grady
Giovanni Pini
Arne Brutschy
Manuele Brambilla
Nithin Mathews
Eliseo Ferrante
Gianni Di Caro
Frederick Ducatelle
Mauro Birattari
Luca Maria Gambardella
Marco Dorigo
Publikationsdatum: 01.12.2012
Verlag: Springer US
Erschienen in: Swarm Intelligence / Ausgabe 4/2012
Print ISSN: 1935-3812
Elektronische ISSN: 1935-3820
DOI: https://doi.org/10.1007/s11721-012-0072-5

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