Fault-Tolerant Robot Programming through Simulation with Realistic Sensor Models

Thomas Bräunl, Andreas Koestler, Axel Waggershauser
2006 International Journal of Advanced Robotic Systems  
We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots in a common environment. The simulated robots are closely modeled after robots from the EyeBot family and have an identical application programmer interface. The simulation supports driving commands at two levels of abstraction as well as numerous sensors such as shaft encoders, infrared distance sensors, and compass. Simulation of on-board digital cameras via synthetic images allows the
more » ... of image processing routines for robot control within the simulation. Specific error models for actuators, distance sensors, camera sensor, and wireless communication have been implemented. Progressively increasing error levels for an application program allows for testing and improving its robustness and fault-tolerance.
doi:10.5772/5750 fatcat:yvk454bujncrlnlskgctvwlqfi