MAES: A ROS 2 Compatible Simulation Tool for Multi Robot Exploration and Coverage

With the aim of allowing the realistic simulation of exploration and coverage algorithms, we present the tool Multi Agent Exploration Simulator (MAES), which is an open-source physics based discrete step multi robot simulator. MAES features movement in a continuous 2D space, realistic physics based on the Unity framework, advanced visualization techniques such as heatmaps, custom wireless signal degradation, both randomly generated and custom user-provided maps, and a ROS (Robot Operating System) interface. This latter characteristic allows to port easily the simulated algorithms to real world robots. We present performance tests, conducted with rather modest hardware, showing that MAES is able to simulate up to 5 robots in ROSMode (using the ROS integration) and up to 120 robots in UnityMode (development performed directly into the C# Unity Editor). A usability test was conducted which hinted that the target audience of robotics researchers and developers is able to quickly install, setup, and use MAES for implementing simple robot logic.