Simulation Components in Gazebo

Ian Peake; Joseph La Delfa; Ronal Bejarano; Jan Olaf Blech

doi:10.1109/ICIT46573.2021.9453594

Simulation Components in Gazebo

Ian Peake, Joseph La Delfa, Ronal Bejarano, Jan Olaf Blech

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussa › Conference article in proceedings › Scientific › vertaisarvioitu

5 Sitaatiot (Scopus)

169 Lataukset (Pure)

Abstrakti

We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

Alkuperäiskieli	Englanti
Otsikko	Proceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021
Kustantaja	IEEE
Sivut	1169-1175
Sivumäärä	7
ISBN (elektroninen)	9781728157306
DOI - pysyväislinkit	https://doi.org/10.1109/ICIT46573.2021.9453594
Tila	Julkaistu - 18 kesäk. 2021
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	IEEE International Conference on Industrial Technology - Valencia, Espanja Kesto: 10 maalisk. 2021 → 12 maalisk. 2021 Konferenssinumero: 22

Conference

Conference	IEEE International Conference on Industrial Technology
Lyhennettä	ICIT
Maa/Alue	Espanja
Kaupunki	Valencia
Ajanjakso	10/03/2021 → 12/03/2021

Pääsy asiakirjaan

10.1109/ICIT46573.2021.9453594

ELEC_Peake_etal_Simulation components in Gazebo_IEEE_ICIT_2021_acceptedauthormanuscriptAccepted author manuscript, 3,76 MB

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title = "Simulation Components in Gazebo",

abstract = "We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases. ",

author = "Ian Peake and {La Delfa}, Joseph and Ronal Bejarano and Blech, {Jan Olaf}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; IEEE International Conference on Industrial Technology, ICIT ; Conference date: 10-03-2021 Through 12-03-2021",

year = "2021",

month = jun,

day = "18",

doi = "10.1109/ICIT46573.2021.9453594",

language = "English",

pages = "1169--1175",

booktitle = "Proceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021",

publisher = "IEEE",

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T1 - Simulation Components in Gazebo

AU - Peake, Ian

AU - La Delfa, Joseph

AU - Bejarano, Ronal

AU - Blech, Jan Olaf

N1 - Conference code: 22

PY - 2021/6/18

Y1 - 2021/6/18

N2 - We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

AB - We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

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U2 - 10.1109/ICIT46573.2021.9453594

DO - 10.1109/ICIT46573.2021.9453594

M3 - Conference article in proceedings

AN - SCOPUS:85112519565

SP - 1169

EP - 1175

BT - Proceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021

PB - IEEE

T2 - IEEE International Conference on Industrial Technology

Y2 - 10 March 2021 through 12 March 2021

ER -

Simulation Components in Gazebo

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