MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation
This tool addresses the need for preliminary testing of navigation algorithms in crowded settings, which is incremental as it combines existing simulation aspects.
The paper tackles the problem of simulating autonomous robot navigation in crowded environments by introducing MengeROS, a 2-D simulator that integrates multiple robots and crowds realistically, enabling testing across a broad range of scenarios.
While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing of algorithms to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools provide either realistic crowds without robots or realistic robots without realistic crowds. This paper introduces MengeROS, a 2-D simulator that realistically integrates multiple robots and crowds. MengeROS provides a broad range of settings in which to test the capabilities and performance of navigation algorithms designed for large crowded environments.