stage.src

<p><img width=140 src="images/stage_button.png" alt="Stage piece"><br>
<p style="margin-top:0;">2D multiple-robot simulator
<hr>

<h3>About Stage</h3>
<p>
<img style="border:1px solid 0x0; padding:0em; margin:0em 0em 1em 1em;" align=right width=300 src="../images/pioneer.png">
Stage simulates a population of mobile robots, sensors and objects in
a two-dimensional bitmapped environment. Stage is designed to support
research into multi-agent autonomous systems, so it provides fairly
simple, computationally cheap models of lots of devices rather than
attempting to emulate any device with great fidelity. We have found
this to be a useful approach.
</p>


<h2>Stage sourcecode has a new home at <img height=30 src="images/github-logo.png">
</h2>

Stage development moved to <a
href="https://github.com/rtv/Stage">https://github.com/rtv/Stage</a>
in 2010. GitHub offers some nice collaboration tools and some other
advantages over SourceForge.

Important Stage GitHub links:

<ul>
<li><a href="http://github.com/rtv/Stage">Git repository</a>
<li><a href="http://github.com/rtv/Stage/downloads">Download tagged or released packages</a>
<li><a href="http://rtv.github.com/Stage">Documentation</a>
<li><a href="http://github.com/rtv/Stage/issues">Issue tracker for submitting bug reports</a>
</ul>

<h2>Stage</h2> The standalone program <i>stage</i> is a fast and
scalable robot simulator. Your robot controllers are compiled and
loaded at run-time, and can be attached to any model. Controllers have
complete access to the Stage API. 

<h2>Player/Stage (Player with libstageplugin)</h2>

<p> See Jenny Owen's <a href="http://www.jenny-owen.co.uk/player/playerstage-manual.html">Player/Stage tutorial.</a>

<p>Stage is often used a a Player plugin module, providing populations
of virtual devices for Player. Users write robot controllers and
sensor algorithms as 'clients' to the Player 'server'. Typically,
clients cannot tell the difference between the real robot devices and
their simulated Stage equivalents (unless they try very hard). We have
found that Player clients developed using Stage will work with little
or no modification with the real robots and vice versa. Thus Stage
allows rapid prototyping of controllers destined for real
robots. Stage also allows experiments with realistic robot devices you
don't happen to have.  Various sensors and actuator models are
provided, including range-finders (sonar, SICK and Hokuyo laser
scanners, IR), vision (color blob detection), 3D depth-map camera,
odometry (with drift error model), and a differential steer robot base.

<h2>libstage</h2>
<p>Stage can also be used as a C++ library to provide a robot simulation
inside your own programs. This is useful if Player is not suitable for
your needs, or if you want custom simulation models based on a
well-known simulation engine.

<p> <a href="https://github.com/rtv/Stage/downloads">[ Download the latest Stage from GitHub ]</a>

<p> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">[ Download previous versions (3.X and older) from Sourceforge ]</a>

<p>
<img style="border:1px solid 0x0; padding:0em;" width=100% src="../images/hospital.png">
</p>
<p>
<img style="border:1px solid 0x0; padding:0em;" width=100% src="../images/fasr.png">
</p>