THE PLAYER/STAGE PROJECT: TOOLS FOR MULTI-ROBOT AND DISTRIBUTED SENSOR

SYSTEMS

Proceedings of the International Conference on Advanced Robotics (ICAR 2003)

Authors: Brian P. Gerkey; Richard T. Vaughan; Andrew Howard

Summary: Robert Burden

OBJECTIVESGoal of Work

Abstract robotic control into a framework to separate it from

algorithm design

Problems Addressed1. Simple Hardware Software

Interface2. Transparent transition from

Hardware to simulator

Technology ReplacedManually implementing

hardware API’sPorting code between

Hardware and Simulator

Aim of Work

Sensor Network & Robotic Algorithm Researchers

PREVIOUS WORK“Lack of space precludes a detailed comparison of

Player and Stage with their alternatives”….What I think this really means...

“When performing my research I was too lazy to lookup alternatives and describe them”

PREVIOUS WORKSaphira

Mission LabTeamBots

AylluDCAARIA

CARMEN

PROPOSAL

Movement Algorithm

Deployment

Algorithm

Sensing Algorithm

Player Client

Simulator

View

RobotHardwar

e

Stage

CONTRIBUTIONS2D Simulator

CONTRIBUTIONS3D Simulator

CONTRIBUTIONS

Player Interface Controls

All major hardware robot

packages

IMPACTThis paper has been cited by over 1000 research

papers.

The player portion has been extended by derivative work to interface better with various robotic

hardware

EVALUATIONThe paper doesn’t formally evaluate the

system.

It provides various case studies to prove the usefulness

The widespread use of this system is the best evaluation of the design.

OPEN PROBLEMS

Multi-Platform SupportExpendability

Sensor Networking

DISCUSSION

Do you see the need for this type of framework for VANNET research?

What sort of problems would this system be able help visualize?

CITATION

GERKEY, BRIAN, RICHARD T. VAUGHAN, AND ANDREW HOWARD. "THE PLAYER/STAGE PROJECT: TOOLS FOR MULTI-ROBOT AND DISTRIBUTED SENSOR SYSTEMS." PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS. VOL. 1. 2003.