A Robot Simulator Based on the Cross Architecture for the Development of Cognitive Robotics

Abstract

This paper presents a new 2D robot simulator based on the Cross Architecture for RoboCup Soccer Humanoid League domain. A simulator is an important tool for testing cognitive algorithms in robots without the need of handling with real robot problems, moreover, a simulator is extremely useful for allowing reproducibility of any developed algorithm, even if there is no robot available. The proposed simulator allows the direct application of the algorithms developed in the simulator into a real robot that works with the Cross Architecture. Besides, the simulator is freely available, it is open-source and has low computational cost. Experiments were conducted in order to analyze the portability of a decision code developed in the simulator to a real robot. The results allowed us to conclude that the simulator can be used to test new algorithms, since the decisions performed by the robot in simulation and in the real world were quite similar.