Feature and Performance Comparison of the V-REP, Gazebo and ARGoS Robot Simulators

Lenka Pitonakova, Manuel Giuliani, Anthony Pipe, Alan Winfield

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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Abstract

In this paper, the characteristics and performance of three open-source simulators for robotics, V-REP, Gazebo and ARGoS, are thoroughly analysed and compared. While they all allow for programming in C++, they also represent clear alternatives when it comes to the trade-off between complexity and performance. Attention is given to their built-in features, robot libraries, programming methods and the usability of their user interfaces. Benchmark test results are reported in order to identify how well the simulators can cope with environments of varying complexity. The richness of features of V-REP and the strong performance of Gazebo and ARGoS in complex scenes are highlighted. Various usability issues of Gazebo are also noted.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018, Proceedings
EditorsManuel Giuliani, Tareq Assaf, Maria Elena Giannaccini
PublisherSpringer, Cham
Pages357-368
Number of pages12
ISBN (Electronic)9783319967288
ISBN (Print)9783319967271
DOIs
Publication statusPublished - 21 Jul 2018
Event19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018 -
Duration: 25 Jul 201827 Jul 2018

Publication series

NameLecture Notes in Artificial Intelligence
Volume10965
ISSN (Print)0302-9743

Conference

Conference19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018
Period25/07/1827/07/18

Keywords

  • simulation
  • agent-based modelling
  • C++
  • ARGoS
  • V-REP
  • Gazebo
  • ROS
  • robot

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