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.
@article{arxiv.1801.08823,
title = {MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation},
author = {Anoop Aroor and Susan L. Epstein and Raj Korpan},
journal= {arXiv preprint arXiv:1801.08823},
year = {2018}
}