Robotics Research Lab

Simulation

The RRLab uses various simulation engines such as SimVis3D, Ogre-PhysX, V-REP, and the Unreal Engine to test its robots, software, and methodologies.

Example videos for the simulations can be found under: https://www.youtube.com/playlist?list=PL6EJa1jgHvryc_nbMGVUWT1Gz_nWKyL_z

 

Unreal Engine 4

The Unreal Engine 4 (UE 4, used 2017-today) is a professional game engine developed by Epic Games. Unreal offers photorealistic rendering, VR connectivity, open-world design, blueprint scripting, and full C++ source access. Finroc provides a plugin to control and interact with robots in a complex, open, photorealistic world. The detailed simulation of sensor technology includes typical camera-fades, -noise, or -blurring, which have a vast influence on the controller in natural systems. Unreal simulates the tandem rollers BW154 and BW147, where several kilometers of the federal highway B10 exist virtually. Likewise, the robots GatorX855D, Unimog U5023, Backhoe, and recent robots run within the simulation engine.

Publications

Sort by: Author, Year, Title

  • LiDAR-GEiL. LiDAR GPU Exploitation in Lightsimulations.
    Manuel Vogel, Maximilian Kunz, Eike Gassen and Karsten Berns
    Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2023), (2023)
  • Simulation-based tool for testing autonomous vehicles.
    Abhiraman Kuntimaddi
    (2023)
  • High-Level Semantic Localization using OpenStreetMap Surface data.
    Maximilian Kunz
    (2022)
  • Point Cloud Dataset Generation for Convolutional Neural Networks.
    Manuel Vogel
    (2022)
  • Simulated Pedestrian Modelling for Reliable Testing of Autonomous Vehicle in Pedestrian Zones.
    Qazi jan, Jan Kleen and Karsten Berns
    Smart Cities, Green Technologies, and Intelligent Transport Systems, Vol. 1475, S. 290 - 307. (2021)
  • Evolution of robotic simulators. Using UE 4 to enable real-world quality testing of complex autonomous robots in unstructured environments.
    Patrick Wolf, Tobias Groll, Steffen Hemer and Karsten Berns
    Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2020), S. 271 - 278. (2020)
  • Self-aware Pedestrians Modeling for Testing Autonomous Vehicles in Simulation.
    Qazi hamza Jan, Jan Kleen and Karsten Berns
    Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems, Vol. 1, Nr. 10.5220/0009377505770584, S. 577 - 584. (2020)
  • Social Collision Avoidance of an Autonomous Bus in a Pedestrian Zone.
    Eileen Schreiber
    (2020)
  • Integrating NVIDIA FleX into the Unreal Engine for sand simulation with particles for robotic applications.
    Daniel Espen
    (2018)
  • Modelling and Simulation of Behaviour-Based Differential and Slippage Control for Unimog.
    Ganesh Sundaram
    (2018)
  • Realistic Simulation of GPS Signal Quality for Autonomous Robots by using Virtual Satellites.
    Alexander Matheis
    (2018)
  • Automatic generation of a simulation environment from robot sensed data.
    Marius Gräfe
    (2017)
  • Autonomie in unwegsamem Gelände. Aktuelle Zwischenergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road Bereich.
    Karsten Berns and Patrick Wolf
    CVC News, Vol. 2, S. 8 - 11. (2017)
  • Geländerekonstruktion basierend auf 3D-Punktwolken.
    Hannes Endres
    (2017)
  • Integration of GNSS / IMU into Unreal Engine and Finroc.
    Philipp Feldmann
    (2017)
  • Integration of the Finroc Framework into the Unreal Engine for Robot Simulation.
    Frank Schnicke
    (2017)
  • Virtual Development on Mixed Abstraction Levels. an Agricultural Vehicle Case Study.
    Matthias Jung, Songlin Piao, Thiyagarajan, Purusothaman, Xiao Pan, Thomas Kuhn, Christoph Grimm, Karsten Berns and Norbert Wehn
    Synopsys Users Group(SNUG) Germany 2015, (2015)
  • 3D Realtime Simulation Framework for Wall-Climbing Robots - Towards the new Climbing Robot CREA.
    Daniel Schmidt and Karsten Berns
    17th International Conference on Climbing and Walking Robots (CLAWAR), S. 559 - 566. (2014)
  • Development and Applications of a Simulation Framework for a Wall-Climbing Robot.
    Daniel Schmidt and Karsten Berns
    26th International Conference on Intelligent Robots and Systems (IROS), S. 2321 - 2326. (2013)
  • Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the Thor project.
    Daniel Schmidt, Tamas Juhasz, Karsten Berns and Ulrich Schmucker
    Informatik 2013, (2013)
  • Modellierung und verteilte Simulation eines autonomen Mobilbaggers.
    Dr. Juhasz, Daniel Schmidt, Lisa Kiekbusch, Prof. Schmucker and Prof. Berns
    Tagungsband Fachtagung Digitales Engineering zum Planen, Testen und Betreiben Technischer Systeme, S. 123 - 130. (2012)
  • A Simulated Environment for Elderly Care Robot.
    Syed Mehdi, Jens Wettach and Karsten Berns
    Pervasive and Embedded Computing and Communication Systems (PECCS), S. 562 - 567. (2011)
  • A Simulation Framework for Human-Robot Interaction.
    Norbert Schmitz, Jochen Hirth and Karsten Berns
    Proceedings of the International Conferences on Advances in Computer-Human Interactions (ACHI), S. 79 - 84. (2010)
  • Simulating Vehicle Kinematics with SimVis3D and Newton.
    Jens Wettach, Daniel Schmidt and Karsten Berns
    Proceedings of the 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR’10), S. 156 - 167. (2010)
  • A Customizable, Multi-Host Simulation and Visualization Framework for Robot Applications.
    Tim Braun, Jens Wettach and Karsten Berns
    Proceedings of the 13th International Conference on Advanced Robotics (ICAR07), S. 1105 - 1110. (2007)
  • A Customizable, Multi-Host Simulation and Visualization Framework for Robot Applications.
    T Braun, J Wettach and K Berns
    Recent Progress in Robotics, Vol. 370, S. 357 - 369. (2007)