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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 proceeding › Conference Contribution (Conference Proceeding)

    89 Citations (Scopus)
    661 Downloads (Pure)

    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 2018 → 27 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
    Period25/07/18 → 27/07/18

    Keywords

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

    Access to Document

    • Full-text PDF (accepted author manuscript)

      This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Springer at https://link.springer.com/chapter/10.1007%2F978-3-319-96728-8_30 . Please refer to any applicable terms of use of the publisher.

      Accepted author manuscript, 619 KBLicence: GNU LGPL

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      • T-B PHASE: Prosperity Partnership with Thales

        Richards, A. G. (Principal Investigator), Wilson, R. E. (Co-Investigator), Johnson, A. (Collaborator), Bullock, S. (Co-Investigator), Lawry, J. (Co-Investigator), Noyes, J. M. (Co-Investigator), Hauert, S. (Co-Investigator), Bode, N. W. F. (Co-Investigator), Pitonakova, L. (Researcher), Kent, T. (Researcher), Crosscombe, M. (Researcher), Zanatto, D. (Researcher), Alkan, B. (Researcher), Drury, K. L. (Manager), Hogg, E. (Student), Bonnell, W. D. (Student), Bennett, C. (Student), Clarke, C. E. M. (Student), Potts, M. W. (Student), Sartor, P. N. (Collaborator), Harvey, D. (Collaborator), Rayneau-Kirkhope, B. (Collaborator), Galvin, K. (Collaborator), Lam, J. (Collaborator), Barden, E. (Collaborator), Chattington, M. (Collaborator), Radanovic, M. (Researcher), Morey, E. (Student), Ball, M. (Co-Principal Investigator), Hunt, E. R. (Collaborator), Richards, A. G. (Principal Investigator), Radanovic, M. (Researcher), Morey, E. (Student), Steane, V. (Collaborator), Reed Edworthy, J. (Collaborator) & Hart, S. G. (Student)

        1/10/17 → 31/03/23

        Project: Research

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