Runtime Cycle Tools Clause Samples

Runtime Cycle Tools. ‌ 3.1 ARGoS‌ ARGoS is a physics-based multi-robot simulator. ARGoS aims to simulate complex experiments involving large swarms of robots of different types in the shortest time possible. It is designed around two main requirements: efficiency, to achieve high perfomance with large swarms, and flexibility, to allow the user to customize the simulator for specific experiments. Besides ARGoS, no existing simulator meets both requirements. In fact, simulators that offer high efficiency typically obtain it by sacrificing flexibility. On the other hand, flexible simulators do not scale well with the number of robots. To marry efficiency and flexibility, ARGoS is based on a number of novel design choices. First, in ARGoS, it is possible to partition the simulated space into multiple sub-spaces, managed by different physics engines running in parallel. Second, ARGoS’ architecture is multi-threaded, thus designed to optimize the usage of modern multi-core CPUs. Finally, the architecture of ARGoS is highly modular. It is designed to allow the user to easily add custom features (enhancing flexibility) and allocate computational resources where needed (thus decreasing run-time and enhancing efficiency).
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