SwarmSimX: Real-time simulation environment for multi-robot systems

Johannes Lächele, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)


In this paper we present a novel simulation environment called SwarmSimX with the ability to simulate dozens of robots in a realistic 3D environment. The software architecture of SwarmSimX allows new robots, sensors, and other libraries to be loaded at runtime, extending the functionality of the simulation environment significantly. In addition, SwarmSimX allows an easy exchange of the underlying libraries used for the visual and physical simulation to incorporate different libraries (e.g., improved or future versions). A major feature is also the possibility to perform the whole simulation in real-time allowing for human-in-the-loop or hardware-in-the-loop scenarios. SwarmSimX has been already employed in several works presenting haptic shared control of multiple mobile robots (e.g., quadrotor UAVs). Additionally, we present here two validation tests showing the physical fidelity and the real-time performance of SwarmSimX. For the tests we used NVIDIA ® PhysX ® and Ogre3D as physics and rendering libraries, respectively.

Original languageEnglish
Title of host publicationSimulation, Modeling, and Programming for Autonomous Robots - Third International Conference, SIMPAR 2012, Proceedings
Number of pages13
Publication statusPublished - 2012
Event3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012 - Tsukuba, Japan
Duration: 2012 Nov 52012 Nov 8

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7628 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012


  • Multi-Robot
  • Real-Time
  • Simulation Environments
  • Software Framework

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


Dive into the research topics of 'SwarmSimX: Real-time simulation environment for multi-robot systems'. Together they form a unique fingerprint.

Cite this