Kilosim Documentation¶
About¶
Kilosim is a fast, lightweight, pseudo-physical* C++ simulator for Kilobot robots. Notable benefits include:
Pseudo-physical model means fast simulation for high-throughput
Easily re-use code written for Kilobots, using the same Kilolib API
Includes support for ambient light sensing
Included
Logger
to easily to save experiment parameters in log continuous state dataCross-platform
Viewer
for debugging and recording simulationsEasy configuration with JSON files to run multiple trials and varied experiments
[In progress] Parallelization with OpenMP
* Pseudo-physical means that it is spatial and handles issues like collisions in a functional but hand-wavy manner. We make no attempt to accurately model true physical interactions. If you want to see what this means, run an example simulation with the Viewer.
Note that this project is currently in a pre-release state and may still contain bugs, incomplete documentation, and missing features. If you encounter any issues, contact us.
Known Issues¶
Fails with GCC 8 (We suspect this is a GCC bug; see issue #23.)
Workaround: Change your GCC version.
Viewer does not work over SSH
Citing¶
If you use this software, please cite it as follows:
DOI (all/latest version): 10.5281/zenodo.3406864
BibTeX:
bibtex
@misc{kilosim_3406865,
author = {Ebert, Julia and
Barnes, Richard},
title = {Kilosim},
month = mar,
year = 2020,
doi = {10.5281/zenodo.3406865},
url = {https://doi.org/10.5281/zenodo.3406865}
}
License¶
This software is released under the MIT License.
Support¶
If you are having issues installing or using the simulator or you have questions: open an issue on GitHub or email Julia Ebert.