Bridging the reality gap between the Webots simulator and e-puck robots
A set of computational techniques to improve the cross-compatibility between the Webots simulator and the e-puck are presented. A new Webots programming architecture is presented, thus providing full control over the real e-pucks capabilities. The successful implementation of e-pucks microphones, speaker and Bluetooth communication is fully described. The Gumstix Overo COM turret is integrated within Webots framework, offering robotrobot WiFi communication. Experiments conducted depict the compatibility using both virtual and real e-pucks under the Webots framework.
simulation multi-robot systems educational tools robotrobot interaction mobile robots