Fault-Tolerant Robot Programming through Simulation with Realistic Sensor Models

Thomas Braunl, A. Koestler, A. Waggershauer

    Research output: Contribution to journalArticlepeer-review

    5 Citations (Scopus)

    Abstract

    We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robotsin a common environment. The simulated robots are closely modeled after robots from the EyeBot family and havean identical application programmer interface. The simulation supports driving commands at two levels ofabstraction 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 use of image processing routines for robotcontrol within the simulation. Specific error models for actuators, distance sensors, camera sensor, and wirelesscommunication have been implemented. Progressively increasing error levels for an application program allowsfor testing and improving its robustness and fault-tolerance.
    Original languageEnglish
    Pages (from-to)99-106
    JournalInternational Journal of Advanced Robotic Systems
    Volume3
    Issue number2
    Publication statusPublished - 2006

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