<s>
The	O
Player	B-Application
Project	I-Application
(	O
formerly	O
Player/Stage	B-Application
Project	I-Application
)	O
creates	O
free	B-License
and	I-License
open-source	I-License
software	I-License
for	O
research	O
into	O
robotics	O
and	O
sensor	O
systems	O
.	O
</s>
<s>
Its	O
components	O
include	O
the	O
Player	O
network	B-Application
server	I-Application
and	O
the	O
Stage	O
platform	O
robotics	B-Application
simulators	I-Application
.	O
</s>
<s>
Most	O
of	O
the	O
major	O
intelligent	O
robotics	O
journals	O
and	O
conferences	O
regularly	O
publish	O
papers	O
featuring	O
real	O
and	O
simulated	B-Application
robot	I-Application
experiments	O
using	O
Player	O
and	O
Stage	O
.	O
</s>
<s>
The	O
Player	B-Application
Project	I-Application
is	O
an	O
umbrella	O
under	O
which	O
two	O
robotics-related	O
software	O
projects	O
are	O
currently	O
developed	O
.	O
</s>
<s>
These	O
include	O
the	O
Player	O
networked	O
robotics	O
server	B-Application
,	O
and	O
the	O
Stage	O
2D	O
robot	O
simulation	O
environment	O
.	O
</s>
<s>
The	O
project	O
was	O
founded	O
in	O
2000	O
by	O
Brian	B-Application
Gerkey	I-Application
,	O
Richard	O
Vaughan	O
and	O
Andrew	B-Application
Howard	I-Application
at	O
the	O
University	O
of	O
Southern	O
California	O
at	O
Los	O
Angeles	O
,	O
and	O
is	O
widely	O
used	O
in	O
robotics	O
research	O
and	O
education	O
.	O
</s>
<s>
It	O
releases	O
its	O
software	O
under	O
the	O
GNU	B-License
General	I-License
Public	I-License
License	I-License
with	O
documentation	O
under	O
the	O
GNU	B-Application
Free	I-Application
Documentation	I-Application
License	I-Application
.	O
</s>
<s>
The	O
Player	O
is	O
set	O
of	O
application	O
programming	O
interfaces	O
(	O
APIs	B-General_Concept
,	O
e.g.	O
,	O
position2d	O
,	O
bumper	O
,	O
ir	O
,	O
speech	O
,	O
power	O
)	O
that	O
can	O
be	O
implemented	O
by	O
a	O
robot	O
chassis	O
(	O
Roomba	O
,	O
Khephera	O
etc	O
.	O
</s>
<s>
)	O
,	O
possibly	O
over	O
serial	O
line	O
or	O
network	B-Architecture
,	O
or	O
by	O
Stage	O
(	O
2D	O
simulator	O
)	O
or	O
Gazebo	O
(	O
3D	O
simulator	O
)	O
.	O
</s>
<s>
The	O
Player	O
software	O
runs	O
on	O
Microsoft	B-Application
Windows	I-Application
,	O
and	O
Portable	O
Operating	B-General_Concept
System	I-General_Concept
Interface	O
(	O
POSIX	O
)	O
compatible	O
operating	B-General_Concept
systems	I-General_Concept
,	O
including	O
Linux	B-Application
,	O
macOS	B-Application
,	O
Solaris	B-Application
,	O
and	O
Berkeley	B-Operating_System
Software	I-Operating_System
Distribution	I-Operating_System
(	O
BSD	B-Operating_System
)	O
variants	O
.	O
</s>
<s>
It	O
also	O
contains	O
client	O
library	B-Library
support	O
for	O
several	O
programming	O
languages	O
including	O
C	O
,	O
C++	B-Language
,	O
Python	B-Language
and	O
Ruby	B-Language
.	O
</s>
<s>
Third-party	O
client	O
libraries	O
are	O
available	O
in	O
other	O
languages	O
including	O
Java	B-Language
and	O
Tcl	B-Operating_System
.	O
</s>
<s>
Added	O
features	O
include	O
a	O
minimal	O
and	O
flexible	O
design	O
,	O
support	O
for	O
interfacing	O
with	O
multiple	O
devices	O
concurrently	O
,	O
and	O
on-the-fly	O
server	B-Application
configuration	O
.	O
</s>
<s>
The	O
Stage	O
simulator	O
is	O
a	O
2D	O
multiple-robot	O
simulation	O
environment	O
built	O
on	O
Fast	B-Language
Light	I-Language
Toolkit	I-Language
(	O
FLTK	B-Language
)	O
.	O
</s>
<s>
The	O
Gazebo	O
3D	O
robot	B-Application
simulator	I-Application
was	O
a	O
component	O
in	O
the	O
Player	B-Application
Project	I-Application
from	O
2004	O
through	O
2011	O
.	O
</s>
<s>
Gazebo	O
integrated	O
the	O
Open	B-Application
Dynamics	I-Application
Engine	I-Application
(	O
ODE	O
)	O
physics	O
engine	O
,	O
OpenGL	O
rendering	O
,	O
and	O
support	O
code	O
for	O
sensor	O
simulation	O
and	O
actuator	O
control	O
.	O
</s>
