2.5D multiple-robot simulator
About Stage
Stage simulates a population of mobile robots, sensors and objects in
a two-dimensional bitmapped environment. Stage is designed to support
research into multi-agent autonomous systems, so it provides fairly
simple, computationally cheap models of lots of devices rather than
attempting to emulate any device with great fidelity. We have found
this to be a useful approach.
Stage
The standalone program stage is a fast and scalable robot simulator. Your robot controllers are compiled and loaded at run-time, and can be attached to any model. Controllers have complete access to the Stage API.libstageplugin
Stage is often used as a Player plugin module, providing populations of virtual devices for Player. This is the well-known "Player/Stage" system. Users write robot controllers and sensor algorithms as 'clients' to the Player 'server'. Typically, clients cannot tell the difference between the real robot devices and their simulated Stage equivalents (unless they try very hard). We have found that Player clients developed using Stage will work with little or no modification with the real robots and vice versa. Thus Stage allows rapid prototyping of controllers destined for real robots. Stage also allows experiments with realistic robot devices you don't happen to have. Various sensors and actuators are provided, including sonar, scanning laser rangefinders, vision (color blob detection), odometry, and a differential steer robot base.
libstage
Stage can also be used as a C++ library to provide a robot simulation inside your own programs. This is useful if neither Stage nor Player/Stage is not suitable for your needs, or if you want custom simulation models based on a well-known simulation engine.
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Content is available under GNU
Free Documentation License 1.2 Last updated 20 October 2009 23:16:06 |
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