Oliver Kutter, Christian Hilker, Alexander Simon, Bärbel Mertsching



According to the requirements of our ongoing research on algorithms of robot vision and manipulation, we present a newly developed simulation framework for mobile robot environments called SIMORE. A dynamic 3D environment has been created in which simulated robots, sensors and actors can be manipulated. Multiple methods to operate a robot are provided including control by manual input devices, graphical user interface and program commands. The interface to the simulator is transparent so that the control commands can be directly transferred to the real hardware platform after successful simulation tests. In addition to the 3D graphics engine the simulator has a physics engine to guarantee a correct physical behavior. The modeling of all objects (visual and dynamic) can be done in modeling software. Simulations can run either in an offline mode, in which actions are predefined, or in an online mode, where an operator can directly manipulate the simulated system by manual input devices. The simulation framework is designed to be modular and flexible in order to allow future extensions and enhancements such as inclusion of additional sensors.


  1. Aragon, C. R. and Hearst, M. A. (2005). Improving aviation safety with information visualization: a flight simulation study. In Proceedings of the SIGCHI conference on Human factors in computing systems (CHI 7805).
  2. Autodesk (2006). 3D Studio
  3. Aziz, Z., Mertsching, B., Shafik, M., and Stemmer, R. (2006). Evaluation of visual attention models for robots. In Proceedings of IEEE International Conference on Computer Vision Systems (ICVS2006).
  4. Balakirsky, S., Scrapper, C., Carpin, S., and Lewis, M. (2006). Usarsim: Providing a framework for multirobot performance evaluation. In Proceedings of the Performance Metrics for Intelligent Systems Workshop, pages 0-1.
  5. Burns, D. and Osfield, R. (2004). Tutorial: Open scene graph. In Proceedings Virtual Reality, pages 265-265.
  6. Carpin, S., Lewis, M., Wang, J., Balakirsky, S., and Scrapper, C. (2007). Usarsim: a robot simulator for research and education. In ICRA, pages 1400-1405. IEEE.
  7. Chen, K.-Z., Feng, X.-Y., Wang, F., and Feng, X.-A. (2007). A virtual manufacturing system for components made of a multiphase perfect material. Computer Aided Design, 39(2):112-124.
  8. Gamma, E., Helm, R., Johnson, R., and Vlissides, J. (1997). Design Patterns - Elements of Reusable Object-Oriented Software. Addison-Wesley Professional.
  9. Koenig, N. and Howard, A. (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.
  10. Leger, C. (2000). Darwin2K: An Evolutionary Approach to Automated Design for Robotics. Kluwer Academic Publishers.
  11. Michel, O. (2004). Cyberbotics ltd - webotsT M : Professional mobile robot simulation. International Journal of Advanced Robotic Systems, 1(1):39-42.
  12. Shafik, M. and Mertsching, B. (2007). Enhanced motion parameters estimation for an active vision system. In 7th Open German/Russian Workshop on Pattern Recognition and Image Understanding.
  13. Smith, R. (2007). Open Dynamics Engine, Version 0.8.
  14. Stellmann, P. (2003). Schnittstellenspezifikation und Verhaltenssimulation für ein System autonomer mobiler Roboter. Diplomarbeit, Technical University Hamburg-Harburg.
  15. Stemmer, R., Brockers, R., Drüe, S., and Thiem, J. (2003). Comprehensive data acquisition for a telepresence application. In International Conference on Systems, Man and Cybernetics (SMC04), pages 5344-5349.
  16. Wang, R., Zhang, G., and Yang, P. (2005). Simulation of vision based landing an uav on a ship. In Proceedings of the 6th International Conference on System Simulation and Scientific Computing (ICSC2005).
  17. Zyda, M. (2005). From visual simulation to virtual reality to games. Computer, 38(9):25-32.

Paper Citation

in Harvard Style

Kutter O., Hilker C., Simon A. and Mertsching B. (2008). MODELING AND SIMULATING MOBILE ROBOT ENVIRONMENTS . In Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008) ISBN 978-989-8111-20-3, pages 335-341. DOI: 10.5220/0001097603350341

in Bibtex Style

author={Oliver Kutter and Christian Hilker and Alexander Simon and Bärbel Mertsching},
booktitle={Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)},

in EndNote Style

JO - Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)
SN - 978-989-8111-20-3
AU - Kutter O.
AU - Hilker C.
AU - Simon A.
AU - Mertsching B.
PY - 2008
SP - 335
EP - 341
DO - 10.5220/0001097603350341