ÜberSim

摘要

A robot simulation engine can be a powerful tool for decreasing development time for robot control systems provided it captures the features of robot-environment interactions relevant to robot control. In this paper, we describe a new multi-robot simulation engine, called ÜberSim, specifically targeted for simulating games of robot soccer. For robot soccer, dynamics, friction, and collisions are integral to robot control thus our simulator must capture these aspects of the environment. Our approach builds on top of a physics simulation engine in order to capture these effects. We describe the current implementation of ÜberSim, which is a work in progress, and present some empirical comparisons of its performance compared to some real robots.