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All Journal Journal of Robotics and Control (JRC)
Andreas Meier
University of Applied Sciences and Arts Northwestern Switzerland
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

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Discussing the Reality Gap by Comparing Physics Engines in Kilobot Simulations Andreas Meier; Sascha Carroccio; Rolf Dornberger; Thomas Hanne
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25120

Abstract

The difference between real experiments and their simulated counterparts, the so-called reality gap, is dependent on various factors and a challenging issue for every simulation-based robot experiment. The reality gap in robot experiments is often caused by software, which is not always able to sufficiently capture particular details and process them properly. In order to minimize this difference, this paper strives to assess different simulation physics engines in V-REP, the simulation framework for the Kilobot swarm robots. The outcome of the simulation software adaption is based on a unified multi robot experiment applied to Kilobots. This paper proposes a simulation attitude, which reflects the outcomes of a real world experiment with Kilobots accurately.
Co-Authors Rolf Dornberger Sascha Carroccio Thomas Hanne