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dc.contributor.authorTai, Wilson Wei Shenen_US
dc.identifier.citationTai, W. W. S. (2022). Dispatching multiple robots in a urban environment. Final Year Project (FYP), Nanyang Technological University, Singapore.
dc.description.abstractPerforming verification and validation on robots is necessary to ensure they behave appropriately and safely. However, conducting such tests is labor-intensive and costly. Recent studies show that simulation-based testing for the verification and validation of robotic systems may be a less time-consuming, more economical, and more scalable alternative to testing in the field. Despite the advantages, field testing remains the dominant approach due to 3 main reasons: reality gaps, complexity, and lack of capability. This report aims to address the concerns by developing a realistic simulator by combining Gazebo, a 3D dynamic simulator that is capable of simulating robots in an outdoor complex environment, ROS, an open-source robotics framework able to support the reuse of code, allowing the code used in the virtual robot to be the same as the one used in a real robot, and open street maps, which extracts real-world geographical data to construct the virtual world. With the use of a Docker image, users can run the simulation independently without any dependency or compilation problems. The simulator has a RESTful API, that allows the user to interact with the simulator through the use of HTTP requests. This results in a realistic, simple to use, and with all the capabilities the user requires to accurately and effectively simulate the dispatching algorithm.en_US
dc.publisherNanyang Technological Universityen_US
dc.subjectEngineering::Computer science and engineeringen_US
dc.titleDispatching multiple robots in a urban environmenten_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorTang Xueyanen_US
dc.contributor.schoolSchool of Computer Science and Engineeringen_US
dc.description.degreeBachelor of Engineering (Computer Science)en_US
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Appears in Collections:SCSE Student Reports (FYP/IA/PA/PI)
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