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Sewtz, Marco and Lehner, Hannah and Fanger, Yunis and Eberle, Jan and Wudenka, Martin and Müller, Marcus Gerhard and Bodenmüller, Tim and Schuster, Martin J. (2022) URSim - A Versatile Robot Simulator for Extra-Terrestrial Exploration. In: 2022 IEEE Aerospace Conference, AERO 2022. IEEE. IEEE Aerospace Conference 2022, 2022-03-05 - 2022-03-12, Big Sky, Montana, USA. doi: 10.1109/AERO53065.2022.9843576. ISBN 978-1-6654-3761-5. ISSN 1095-323X.
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Official URL: https://ieeexplore.ieee.org/document/9843576
Abstract
We present URSim, a complete Software-in-the-Loop simulation of robotic systems, specially designed to meet the needs of testing platforms for planetary exploration. By simulating the sensors of a robotic system and providing similar interfaces to the real system, URSim enables developing and continuous testing of high-level software components in various scenarios. URSim is based on the Unreal Engine 4, which offers photo-realistic visual and physics support in real-time. A generic robot interface allows the integration of different robotic systems with various sensors that are simulated in real-time. Its modern and adaptable system architectures make it possible to customize URSim for different setups, frameworks, and modules. To demonstrate URSim and its advances, we simulate different robotic systems, including the Lightweight Rover Unit (LRU), the hexacopter ARDEA and the humanoid robot Rollin’ Justin. We integrate the complete navigation and mapping pipeline of the LRU in URSim and conduct an exploration mission in a simulated Martian and Lunar environment.
| Item URL in elib: | https://elib.dlr.de/191546/ | ||||||||||||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||||||||||||||
| Title: | URSim - A Versatile Robot Simulator for Extra-Terrestrial Exploration | ||||||||||||||||||||||||||||||||||||
| Authors: |
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| Date: | 2022 | ||||||||||||||||||||||||||||||||||||
| Journal or Publication Title: | 2022 IEEE Aerospace Conference, AERO 2022 | ||||||||||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||||||||||||||
| DOI: | 10.1109/AERO53065.2022.9843576 | ||||||||||||||||||||||||||||||||||||
| Publisher: | IEEE | ||||||||||||||||||||||||||||||||||||
| ISSN: | 1095-323X | ||||||||||||||||||||||||||||||||||||
| ISBN: | 978-1-6654-3761-5 | ||||||||||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||||||||||
| Keywords: | Robotics Planetary Exploration Simulation | ||||||||||||||||||||||||||||||||||||
| Event Title: | IEEE Aerospace Conference 2022 | ||||||||||||||||||||||||||||||||||||
| Event Location: | Big Sky, Montana, USA | ||||||||||||||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||||||||||||||
| Event Start Date: | 5 March 2022 | ||||||||||||||||||||||||||||||||||||
| Event End Date: | 12 March 2022 | ||||||||||||||||||||||||||||||||||||
| Organizer: | IEEE | ||||||||||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Multisensory World Modelling (RM) [RO] | ||||||||||||||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||||||||||||||||||
| Deposited By: | Sewtz, Marco | ||||||||||||||||||||||||||||||||||||
| Deposited On: | 02 Dec 2022 18:17 | ||||||||||||||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:52 |
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