Simulation, Modeling, and Programming for Autonomous Robots

1. Front Matter

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2. Invited Talks

   1. Building Blocks for Mobile Manipulation

      • Brian P. Gerkey

      Pages 1-1

   2. Natural Human-Robot Interaction

      • Takayuki Kanda

      Pages 2-2

   3. Robots and the Human

      • Oussama Khatib

      Pages 3-4

   4. The Modelica Object-Oriented Equation-Based Language and Its OpenModelica Environment with MetaModeling, Interoperability, and Parallel Execution

      • Peter Fritzson

      Pages 5-14

3. Simulation

   1. Blender for Robotics: Integration into the Leuven Paradigm for Robot Task Specification and Human Motion Estimation

      • Koen Buys, Tinne De Laet, Ruben Smits, Herman Bruyninckx

      Pages 15-25

   2. Simulating the C2SM ‘Fast’ Robot

      • R. Codd-Downey, M. Jenkin, M. Ansell, H. -K. Ng, P. Jasiobedzki

      Pages 26-37

   3. Extending Open Dynamics Engine for Robotics Simulation

      • Evan Drumwright, John Hsu, Nathan Koenig, Dylan Shell

      Pages 38-50

   4. Virtual Robot Experimentation Platform V-REP: A Versatile 3D Robot Simulator

      • Marc Freese, Surya Singh, Fumio Ozaki, Nobuto Matsuhira

      Pages 51-62

   5. Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors

      • Martin Friedmann, Karen Petersen, Oskar von Stryk

      Pages 63-74

   6. High Fidelity Sensor Simulations for the Virtual Autonomous Navigation Environment

      • Chris Goodin, Phillip J. Durst, Burhman Gates, Chris Cummins, Jody Priddy

      Pages 75-86

   7. GPS/Galileo Testbed Using a High Precision Optical Positioning System

      • Robin Heß, Klaus Schilling

      Pages 87-96

   8. Validating Vision and Robotic Algorithms for Dynamic Real World Environments

      • Tobias Kotthäuser, Bärbel Mertsching

      Pages 97-108

   9. OpenGRASP: A Toolkit for Robot Grasping Simulation

      • Beatriz León, Stefan Ulbrich, Rosen Diankov, Gustavo Puche, Markus Przybylski, Antonio Morales et al.

      Pages 109-120

   10. NERD Neurodynamics and Evolutionary Robotics Development Kit

       • Christian Rempis, Verena Thomas, Ferry Bachmann, Frank Pasemann

       Pages 121-132

   11. Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations

       • Vinay Sachidananda, Diego Costantini, Christian Reinl, Dominik Haumann, Karen Petersen, Parag S. Mogre et al.

       Pages 133-143

   12. Evaluating a Physics Engine as an Ingredient for Physical Reasoning

       • Erik Weitnauer, Robert Haschke, Helge Ritter

       Pages 144-155

   13. Simulating Vehicle Kinematics with SimVis3D and Newton

       • Jens Wettach, Daniel Schmidt, Karsten Berns

       Pages 156-167

4. Programming

   1. Coordinating Software Components in a Component-Based Architecture for Robotics

      • Geoffrey Biggs, Noriaki Ando, Tetsuo Kotoku

      Pages 168-179

   2. Native Robot Software Framework Inter-operation

      • Geoffrey Biggs, Noriaki Ando, Tetsuo Kotoku

      Pages 180-191

Why are the many highly capable autonomous robots that have been promised for novel applications driven by society, industry, and research not available - day despite the tremendous progress in robotics science and systems achieved during the last decades? Unfortunately, steady improvements in speci?c robot abilities and robot hardware have not been matched by corresponding robot performance in real world environments. This is mainly due to the lack of - vancements in robot software that master the development of robotic systems of ever increasing complexity. In addition, fundamental open problems are still awaiting sound answers while the development of new robotics applications s- fersfromthelackofwidelyusedtools,libraries,andalgorithmsthataredesigned in a modular and performant manner with standardized interfaces. Simulation environments are playing a major role not only in reducing development time and cost, e. g. , by systematic software- or hardware-in-the-loop testing of robot performance, but also in exploring new types of robots and applications. H- ever,their use may still be regardedwith skepticism. Seamless migrationof code using robot simulators to real-world systems is still a rare circumstance, due to the complexity of robot, world, sensor, and actuator modeling. These challenges drive the quest for the next generation of methodologies and tools for robot development. The objective of the International Conference on Simulation, Modeling, and ProgrammingforAutonomous Robots (SIMPAR) is to o?er a unique forum for these topics and to bring together researchersfrom academia and industry to identify and solve the key issues necessary to ease the development of increasingly complex robot software.

• 3D robot simulation
• autonom
• autonomous robot
• human robot interaction
• machine learning
• mixed reality
• mobile robot
• modeling
• physical simulation
• programming
• robot
• robot modeling
• robot vision
• simulation
• socce

• AIST Tsukuba Central 2, RT-Synthesis R.G., ISRI, AIST, Tsukuba, Japan

  Noriaki Ando

• Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, USA

  Stephen Balakirsky

• Department of Computer Science, Technical University Darmstadt, Darmstadt, Germany

  Thomas Hemker, Oskar Stryk

• Department of Management and Engineering (DTG), University of Padua, Vicenza, Italy

  Monica Reggiani

Policies and ethics