ORCA: A multi-tier, physics based robotics simulator
Physics-based simulation has grown to become an indispensable tool in robotics research, since it greatly facilitates development and evaluation of complex robotics algorithms. Today it is considered a standard practice, prior to any deployment on hardware platforms, and an important part of the dev...
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ftunivbergamo:oai:aisberg.unibg.it:10446/87669 2023-05-15T17:53:19+02:00 ORCA: A multi-tier, physics based robotics simulator Emmanouil Hourdakis Giorgos Chliveros Panos Trahanias Emmanouil, Hourdaki Giorgos, Chlivero Panos, Trahanias 2014 remote http://hdl.handle.net/10446/87669 https://doi.org/10.6092/JOSER_2014_05_02_p13 eng eng Università degli studi di Bergamo country:Italy place:Bergamo ispartofbook:JOSER - Journal of Software Engineering for Robotics volume:5 issue:2 firstpage:13 lastpage:24 numberofpages:12 journal:JOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS http://hdl.handle.net/10446/87669 doi:10.6092/JOSER_2014_05_02_p13 info:eu-repo/semantics/openAccess Physics simulation robotic sensor modeling graphic distributed processing Settore ING-INF/05 - Sistemi di Elaborazione delle Informazioni info:eu-repo/semantics/article 2014 ftunivbergamo https://doi.org/10.6092/JOSER_2014_05_02_p13 2022-12-26T21:36:48Z Physics-based simulation has grown to become an indispensable tool in robotics research, since it greatly facilitates development and evaluation of complex robotics algorithms. Today it is considered a standard practice, prior to any deployment on hardware platforms, and an important part of the development activities in large-scale projects. To cope with this role, simulators must address additional issues related to large-scale model development, including multi-modal processing, provisions for algorithmic integration, and fast, scalable graphics. To meet those needs, we have developed ORCA, a versatile, physics-based robotics simulator that has underpinned the research efforts of numerous European and national funded projects. ORCA integrates a middleware back-end directly into the server/simulator environment, making the sharing of resources a seamless task, promoting code re-use and facilitating the integration of software modules. In the current paper, we outline the main traits of the software package, its ability to render and process large-scale environments, as well as the property to distribute computing load across available resources. To demonstrate the software's applicability, we discuss three different use-cases, in which ORCA was used at the heart of their development efforts. Article in Journal/Newspaper Orca Aisberg - Archivio istituzionale dell'Università di Bergamo |
institution |
Open Polar |
collection |
Aisberg - Archivio istituzionale dell'Università di Bergamo |
op_collection_id |
ftunivbergamo |
language |
English |
topic |
Physics simulation robotic sensor modeling graphic distributed processing Settore ING-INF/05 - Sistemi di Elaborazione delle Informazioni |
spellingShingle |
Physics simulation robotic sensor modeling graphic distributed processing Settore ING-INF/05 - Sistemi di Elaborazione delle Informazioni Emmanouil Hourdakis Giorgos Chliveros Panos Trahanias ORCA: A multi-tier, physics based robotics simulator |
topic_facet |
Physics simulation robotic sensor modeling graphic distributed processing Settore ING-INF/05 - Sistemi di Elaborazione delle Informazioni |
description |
Physics-based simulation has grown to become an indispensable tool in robotics research, since it greatly facilitates development and evaluation of complex robotics algorithms. Today it is considered a standard practice, prior to any deployment on hardware platforms, and an important part of the development activities in large-scale projects. To cope with this role, simulators must address additional issues related to large-scale model development, including multi-modal processing, provisions for algorithmic integration, and fast, scalable graphics. To meet those needs, we have developed ORCA, a versatile, physics-based robotics simulator that has underpinned the research efforts of numerous European and national funded projects. ORCA integrates a middleware back-end directly into the server/simulator environment, making the sharing of resources a seamless task, promoting code re-use and facilitating the integration of software modules. In the current paper, we outline the main traits of the software package, its ability to render and process large-scale environments, as well as the property to distribute computing load across available resources. To demonstrate the software's applicability, we discuss three different use-cases, in which ORCA was used at the heart of their development efforts. |
author2 |
Emmanouil, Hourdaki Giorgos, Chlivero Panos, Trahanias |
format |
Article in Journal/Newspaper |
author |
Emmanouil Hourdakis Giorgos Chliveros Panos Trahanias |
author_facet |
Emmanouil Hourdakis Giorgos Chliveros Panos Trahanias |
author_sort |
Emmanouil Hourdakis |
title |
ORCA: A multi-tier, physics based robotics simulator |
title_short |
ORCA: A multi-tier, physics based robotics simulator |
title_full |
ORCA: A multi-tier, physics based robotics simulator |
title_fullStr |
ORCA: A multi-tier, physics based robotics simulator |
title_full_unstemmed |
ORCA: A multi-tier, physics based robotics simulator |
title_sort |
orca: a multi-tier, physics based robotics simulator |
publisher |
Università degli studi di Bergamo |
publishDate |
2014 |
url |
http://hdl.handle.net/10446/87669 https://doi.org/10.6092/JOSER_2014_05_02_p13 |
genre |
Orca |
genre_facet |
Orca |
op_relation |
ispartofbook:JOSER - Journal of Software Engineering for Robotics volume:5 issue:2 firstpage:13 lastpage:24 numberofpages:12 journal:JOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS http://hdl.handle.net/10446/87669 doi:10.6092/JOSER_2014_05_02_p13 |
op_rights |
info:eu-repo/semantics/openAccess |
op_doi |
https://doi.org/10.6092/JOSER_2014_05_02_p13 |
_version_ |
1766161023284281344 |