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This wiki is a community supported repository of information about the Spark Generic Physical Multiagent Simulator (SimSpark). The SimSpark team does not take responsibility for the content nor accuracy of these pages.

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  • Perceptors - How your agent senses itself and its environment
  • Effectors - How your agent changes itself and its environment
  • Agents - Software that drives the behavior of the robots
  • Models - The physical representation of your robot
  • Monitor - A way to see what's happening onscreen in 3D
  • Server - The core central software service
  • Simulation Update Loop - The process by which the simulation executes
  • Network Protocol - How distributed components communicate across the network

Hands On


Development plan and ideas list

A screen shot of the soccer simulation with 9 vs 9 Nao agents
The virtual Nao
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