Journal of Robotics and Control (JRC)
Vol 2, No 5 (2021): September (Forthcoming Issue)

Discussing the Reality Gap by Comparing Physics Engines in Kilobot Simulations

Meier, Andreas (Unknown)
Carroccio, Sascha (Unknown)
Dornberger, Rolf (Unknown)
Hanne, Thomas (Unknown)

Article Info

Publish Date
27 Sep 2021

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.

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Journal Info
Journal of Robotics and Control (JRC)
Website

Abbrev

jrc

Publisher

Universitas Muhammadiyah Yogyakarta

Subject

Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

Description

Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope ...