So I will just end here by dedicating my thesis to them. No words on paper can express my gratitude. Finally, no endeavour would be complete without the unconditional love and support of my family.
You made my stay here unforgettable by being the perfect professor, mentor and program head by selflessly giving both of your time and advice whenever I needed them. Simone Deparis, the Deputy of my masters program in Computational Science & Engineering (CSE) at EPFL for his continued support and help throughout these past 2 years at EPFL. I would like to express a special thanks and gratitude to Prof.
It was a great pleasure working with you guys. I am thankful to the wonderful team at Cyberbotics that helped make my stay here for the last 4 months very enjoyable, to say the least. Luc Guyot at Cyberbotics, for helping me with the mathematically tricky parts of the project and for always being there for advice and mentoring, along with the invigorating discussions. Auke Ijspeert at the Biorobotics Lab, for your kind support and understanding throughout the project, in addition to the autonomy availed to me during this time. I would like to thank my supervisor at EPFL, Prof.
#Webots modular robot biorob how to
Thank you for your continuous support throughout this project and for giving me full autonomy on how to proceed with the work, yet at the same time providing me with the many insightful and highly useful discussions that helped shape the course I charted throughout the project. Olivier Michel, with whom I worked with at Cyberbotics on this project. iiiĥ Acknowledgements I would like to start by expressing deep gratitude to Dr. We finally dive into the LCP solver in ODE and discuss a first-pass parallelization of it. We finish the high-level parallelization with an implementation of a heuristics system to fine-tune the algorithm parameters to attain optimal performances for all simulations in Webots. It then goes on to evolve the existing parallelization algorithm until we reach a satisfactory state where no further optimization is possible. It builds on the previous parallelization work done at Cyberbotics and starts by investigating OpenMP as a threading alternative to Posix Threads.
#Webots modular robot biorob software
Auke Jan Ijspeertģ Abstract In this project, we investigate the different ways of parallelizing the simulation loop of Webots, a popular robotic simulation software and the underlying physics engine it uses, the Open Dynamics Engine (ODE). 1 Master Thesis Parallelization of the Webots simulation loop & the ODE physics engine Abd-ur-Rehman Mustafa Cyberbotics Switzerland Biorobotics Laboratory (Biorob Lab) École Polytechnique Fédérale de Lausanne Supervisors Dr.
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