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Definition, Implementation, and Calibration of the Swarmbot3D Simulator.

This Technical Report describes the final version of the simulating software Swarmbot3d implementing the swarm-bot simulator as outlined in Workpackage 3, ”Simulator Prototype”. The document presents all the simulator’s features and acts as a developer’s manual. It describes the implementation choices and software components. It is complemented with the simulator software in its final version, and the Simulator User Manual for its quick use. The simulator presented here is based on the hardware specifications described in Deliverable 3 (”Simulator Design”) and Deliverable 5 (”User Manual”) of Workpackage 3 of the SWARMBOTS Project. The development of the simulator Swarmbot3d was intended to address the following supporting roles during this project: 1. To be able to predict accurately both kinematics and dynamics of a single s-bot and swarm-bot in 3D; 2. To evaluate hardware design options for different components; 3. To design swarm-bot experiments in 3D worlds; and 4. To investigate different distributed control algorithms.