Table 4.
Speed of simulator with various functionalities enabled.
| 256 simulations |
512 simulations |
|||||
|---|---|---|---|---|---|---|
| Functionality | trss | Δtrss | % | trss | Δtrss | % |
| Physics | 6.9 | 6.9 | 40 | 6.7 | 6.7 | 31 |
| +Sensors | 11 | 4.5 | 26 | 11 | 4.0 | 19 |
| +Camera and R&B | 15 | 3.1 | 18 | 14 | 3.3 | 16 |
| +Controller (all functionality) | 17 | 2.6 | 16 | 21 | 7.2 | 34 |
16 robots, 1 passive object, basic exploration and collision avoidance controller. Tested over five runs with 256 and 512 parallel simulations. trss is time (μs) per robot simulated second. With 256 parallel simulations, the physics functionality dominates at 40% of the processing time, but with 512 parallel simulations, controller processing is the largest proportion.