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MICRON Résumé de rapport

Project ID: IST-2001-33567
Financé au titre de: FP5-IST
Pays: Greece

Simulation system

The main purpose of the simulation unit is to verify the feasibility of the input task sequence to be autonomously and cooperatively executed by the robot agents. Simulation can detect two types of infeasible plans. First, infeasibility that might occur due to discrepancies between the task requirements and the hardware availability. Second, the infeasibility that might occur due to workspace and obstacle constraints. If the Task sequence of the Plan is validated by the Simulation module, then a set of goal configurations and tool commands are dispatched to the Autonomous Execution module for on-line autonomous sensor based motion planning and control. The main units of the Simulation module are the Parser, the Task Supervision unit, the Motion Coordination and the World Model unit. The software architecture of the simulation module was implemented using C++ object oriented programming.

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