arXiv:1304.2888v1 [cs.RO] 10 Apr 2013 tas iesfo ayacs n atrbtcaetsimu- agent robotic fast and easy-access from [12]. differs MASON and also [24] De- It Netlogo age as use, Robotic such to tools Microsoft easy simulation but or based unrealistic, [7] and [17]), Gazebo Studio [25], velopper V-Rep We [26], slo [8], Player/Stage bots but as realistic, (such or- inbetween framework simulation stands in robotic it fast-pac setup such, with As robotic modelling simulation. a (pseudo-)realistic combine model to to der approach intermediate an xeiet.Rbrb!i vial ne h e BSD new the under available at is [18] extensive Licence for Roborobo! implementation new robust of and experiments. development fast t easy very is and for idea ideas underlying framework The versatile 1). a Figure provide in illustrated as , uin(e nieeouin n wr oois( and evo- evolution) embodied online on emphasis (ie. particular a lution practiction- evoluti with and and robotics, systems researchers ary adaptive to, collective in- in limited mostly interested is not ners but Roborobo! at, platforms. tended [ robotic ePuck [13] famous the Khepera to or similar setup bas hardware robotic experiment, basic robotics on extensive for simulator platform INTRODUCTION 1. library graphics SDL C++, c systems, robotics, adaptive swarm lective robotics, evolutionary simulator, Keywords embodied morphogenesis. onboard embodied online and as evolution well as optimization, e lutionary distributed research and includ self-adaptation published environment-driven robotics, dozen has ing swarm a evolutionary and tar- than with simulation, concerned more is mainly in multi-robots It used and been model. single already Khepera/ePuck fast a for on Graphicsgeted based 2D lim is fast for solely library it Roborobo! is SDL (”Keep available widely dependency guideline the KISS external to ited the its follows Therefore, and simple”). C++, in Ro coded simuis experiments. robotics robot collective portable, large-scale for highly lator multi-platform, a is Roborobo! ABSTRACT ihrsett te ooi iuaos oooo takes Roborobo! simulators, robotic other to respect With hsppritoue oooo,algtwih multi- light-weight a Roborobo!, introduces paper This https://code.google.com/p/Roborobo/ o wr n olcieRobotics Collective and Swarm for oooo atRbtSimulator Robot Fast a Roborobo! [email protected] rj nvrietAmsterdam Universiteit Vrije ioa Bredeche Nicolas h Netherlands The eedWeel Berend PC CNRS UPMC, [email protected] ai,France Paris, > borobo! 100 . on- vo- nt- ol- w, ed ed o - - - - . 5] [email protected] rj nvrietAmsterdam Universiteit Vrije .REFERENCES 2. bo funding https://www.grid5000.fr). other (see as well ies as CNRS, Universities several from and support under RENATER with developed action development being ALADDIN u INRIA testbed, environment cluster experimental a Grid’5000 in the tested extensively 216 agreement was grant under Roborobo! this project Ada to the Pervasive funding contributed Initiative: tion possib Proactive who made FET was Union people work European This the all Cazenille. thank Leo including to project, wish authors The self- Acknowledgments and 19] 2, 3, 15, 16, 27]. environment-driven [28, 1, assembly 6], [14, mostly adaptation [10, robotics, contexts, evolutionary evolution swarm various and embodied in robotics including used evolutionary extensively with concerned been then since Integrated has extended continuously Symbrion It been european has the and of [23], context Project the in Vrije 2009 in (France), Curie (Norway). NTNU Marie universities and et (NL), several Amsterdam Pierre in Universiteit Pari Universite basis Universite daily and including a education, Sud and on research used both is for french initiat and been the has 2009 as such Roborobo! in clusters, clusters. large national [4] It on Grid5000 deployed Windows). been MS X, also [21]) MacOS has (Linux, Pi of systems Raspberry set operating large [20], a and OpenPandora on enabling tested Mac, been dependency, (PC, has platforms unique It deployment. as fast and [22] easy library graphics SDL hnmr ope -iesoa models. 3-dimensional complex more than nsamadageaeo ooi nt,fcsn nlarge- on robots focusing solely of units, focusing robotic population by of [9], scale aggregate Simbad and and swarm [11] on Breve as such lators G atpcomputer. laptop 4GB 1 1 .Beeh n .M otne.Environment-driven Montanier. J.-M. and Bredeche N. [1] ..Rbrb!i bet u ihu o60 ooso a on robots 6000 to up with run to able is Roborobo! e.g. enMr Montanier Jean-Marc oooo a rgnl eeopdb ioa Bredeche Nicolas by developped originaly was Roborobo! oooo switnin written is Roborobo! rbe ovn rmNtr PS 2010) 2010. (PPSN 290–299, Nature From Solving Problem Autonomous of In Population Agents. a in Evolution Embodied rnhi,Norway Trondheim, vr Haasdijk Evert [email protected] h Netherlands The NTNU h 1hItrainlCneec nParallel on Conference International 11th The 1 C n2dmninlwrd rather worlds 2-dimensional in ihtemulti-platform the with + + pages , eby le 342. pta- sing the ed d- s- . Figure 1: Classic examples with 1 virtual (e-puck) agent, incl. IR sensor rays (left) ; 100 virtual agents (center) ; 5000 virtual agents (right).

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