Astralis: A High-Fidelity Simulator for Heterogeneous Robot and Human-Robot Teaming

Gong Chen, Duong Nguyen-Nam, Malika Meghjani, Phan Minh Tri, Marcel Bartholomeus Prasetyo, Mohammad Alif Daffa, Tony Q.S. Quek

研究成果: Conference contribution

摘要

We introduce Astralis simulator, a high-fidelity robot simulation platform for the development of multi-robot and human-robot coordination algorithms which can be seamlessly translated to real-world environments. The simulator provides novel features of dynamically initializing the virtual environment with real-world 3D point cloud data and a uniformly random arrangement of static and dynamic obstacles in the environment. This allows the user to generate several variants of a base scenario for strategic planning and algorithm validation. The simulator can receive high-level command inputs to control a team of Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), and human avatars. The simulated robot models are built with high fidelity control and navigation capabilities which can be readily deployed on real robot platforms. We use Astralis simulator to analyze human-robot coordination algorithms for tracking, following and leading targets in a search and rescue mission. The algorithm is validated using a UAV and a UGV in simulation and on physical platforms. Our simulator provides comparable results to the real-world experiments in terms of the executed trajectories by the robots.

原文English
主出版物標題SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics
發行者Institute of Electrical and Electronics Engineers Inc.
頁面353-359
頁數7
ISBN(電子)9781665456807
DOIs
出版狀態Published - 2022
事件2022 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022 - Sevilla, Spain
持續時間: 2022 11月 82022 11月 10

出版系列

名字SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics

Conference

Conference2022 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2022
國家/地區Spain
城市Sevilla
期間22-11-0822-11-10

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 航空工程
  • 汽車工程
  • 機械工業
  • 安全、風險、可靠性和品質
  • 控制和優化
  • 安全研究

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