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MRSim - Multi-Robot Simulator (v1.0)

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MRSim - Multi-Robot Simulator (v1.0)



28 Sep 2012 (Updated )

MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments.

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The MRSim (Multi-Robot Simulator) is an extension of the Autonomous mobile robotics toolbox SIMROBOT (SIMulated ROBOTs) created for MatLab 5 in 2001. MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. When compared to its predecessor SIMROBOT, MRSim presents two key contributions:

1) It is fitted to the new MatLab versions - Previously, users were unable to work with SIMROBOT functions since most of them were incompatible with the new MatLab versions. MatLab significantly evolved over the last 10 years, making SIMROBOT obsolete. In this extension, all features of SIMROBOT were updated and improved based on the new MatLab functions;

2)It is also fitted to suit multi-robot applications - although SIMROBOT was endowed with various interesting features for mobile robotics, it presented several limitations for multi-robot applications. Therefore, MRSim was created primarily to allow users to develop multi-robot applications, which would benefit working with some specific requirements such as multi-hop communication.

Moreover, most of the functionalities in MRSim have an integrated help (which can be accessed just by typing help function) that allows to easily understand the dynamics of how to create and run simulations. In sum, just like SIMROBOT, each robot in MRSim can be equipped with several virtual sensors and can be driven by its own control algorithm. The toolbox includes two independent applications. The first one is the EDITOR (simedit), which allows the user to create and modify the virtual environment,to edit the control algorithms of robots, to load and save simulation, and others. The second application, SIMULATOR (simview), can be run directly from the EDITOR or separately from MatLab Command Window and serves as a simulation viewer.

A MatLab help file is being currently created and will be add in the future.

Required Products MATLAB
MATLAB release MATLAB 7.12 (R2011a)
Other requirements The C-Files need to be compiled by the users using the mex MatLab function.
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Comments and Ratings (7)
16 Mar 2014 sky nku

hi~I tried your works,but it seems there are a few
problems :
1 I make a simple map by myself,and put some robots using algorithm of alg2.m, but when run,it
turns out errors as follow:
Undefined function or variable "swarm".

Error in algDPSO (line 94)
message.swarm = swarm;

Error in simrobot/runR (line 22)
[list] = feval(list(j).af,list(j),list,matrix,step); % Take
robot from the list and execute algorithm

Error in simviewcb (line 176)

Error in simviewcb (line 100)
simviewcb run;

Error in simeditcb (line 338)
simviewcb sim;

Error while evaluating uimenu Callback

25 Feb 2014 Akshay

Hi there,

I am trying to run the demo and m getting the following error. Also I am not getting the 'run' option in the simulation window..

??? Undefined function or method 'prmex' for input
arguments of type 'double'.

Error in ==> simrobot.putrob at 59
== -1

Error in ==> simviewcb at 425
list1(i) =

Error in ==> simviewcb at 385
simviewcb loadfile;

??? Error while evaluating uimenu Callback

22 Oct 2013 Micael Couceiro

Dear Timo,

I haven't heard about this problem before although I can understand it. It seems that the round function inside drmex.c is conflicting with the round function from matlab or another user-created function you may have.
Before we try to think about a possible solution, please download the following version of MRSim:

This version already has the compiled files which may or may not work with your system. Try to run simview/simedit without compiling the files from this new version.

17 Oct 2013 Timo

Hi there, I get the following error messages if i try to compile drmex.c with my MATLAB2011a and gcc4.7:
drmex.c:86:14: error: conflicting types for ‘round’
In file included from /usr/include/math.h:71:0,
from drmex.c:1:
/usr/include/i386-linux-gnu/bits/mathcalls.h:311:1: note: previous declaration of ‘round’ was here
drmex.c: In function ‘round’:
drmex.c:86:38: error: expected declaration specifiers before ‘/’ token
drmex.c:105:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
drmex.c:151:1: error: expected ‘{’ at end of input

mex: compile of ' "drmex.c"' failed.

15 Oct 2012 Micael Couceiro

Did you added all the files to MatLab directory using the set path? All files within the zip should be added in the MatLab path.

15 Oct 2012 Wern-Juin Choy

May I enquire as to what does this error mean >>
Error in simeditcb (line 50)
robotT = simrobot('',2,2,2,'',[1 1 0],1,10,10); % Create object

Error while evaluating uimenu Callback

15 Oct 2012 Wern-Juin Choy

Have tried running your program. Tried loading the help file through the directions given but the command window keeps saying 'No help found for <xxx.m>'.
The simulator did appear after running but the About>help also did not produce a help screen.

02 Oct 2012

Addition of a Help htm file.
One can access the file using any browser (e.g., Firefox, IE, ...) or through About/Help menu on both SIMULATOR and EDITOR windows on MatLab.

02 Oct 2012

Addition of a Help htm file.

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