A new simulation framework for autonomy in robotic missions

Autonomy is a key enabling factor in the advancement of robotics for remote exploration. As the level of resources devoted to this effort continues to increase, it has become equally important to provide simulation tools and environments to scientists in which to test the autonomy algorithms. While...

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Bibliographic Details
Main Authors: Fluckiger, L., Neukom, C.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computer architecture
Computer industry
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Electrical equipment industry
Exact sciences and technology
Hardware
NASA
Pattern recognition. Digital image processing. Computational geometry
Robotics
Service robots
Software quality
Software tools
System testing
Online Access:Request full text
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Description
Summary:Autonomy is a key enabling factor in the advancement of robotics for remote exploration. As the level of resources devoted to this effort continues to increase, it has become equally important to provide simulation tools and environments to scientists in which to test the autonomy algorithms. While industrial robotics benefits from a variety of high quality simulation tools, researchers developing autonomy software are still dependent primarily on block-world simulations. The Mission Simulation Facility (MSF) project addresses this shortcoming by providing a simulation toolkit that will enable developers of autonomous control systems to test their Systems' performance against integrated, standardized simulations of NASA mission scenarios. The MSF provides a distributed architecture that connects the autonomous system to a set of simulated components replacing the robot hardware and its environment.
DOI:10.1109/IRDS.2002.1041733