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Simulator Images

The floorplan used in simulations was based on the FRC floorplan. The image shows a top-down view of this simulated world and the undeployed positions of four robots in the FRC world.
The image shows a top-down view of the simulated FRC world. Observation points/goals assigned to the robots are indicated by blue markers.
The operator is able to dynamically add goals/observation points to the task list while the robots are executing the most current list of tasks. In this image, all goals specified for test runs in the simulated FRC world are shown. When a robot passes a doorway, a goal/observation point is triggered inside the "newly observed" room. This models the scenario of exploring partially known worlds.
The image shows a top-down view of the simulated FRC world after the robots have executed their tasks. Trails indicate the different paths the robots traversed while executing their tasks.