"> World 4

World 4

This page shows a movie of simulated robots executing a routine exploration missiong in a simulated world. Robot paths are indicated by trails, obstacles are indicated by large black cubes, and goals/observation points are represented by blue markers.

Image 1

Initial goals and tours assigned by the Operator Executor.

Image 2

Intermediate tours after two new goals have been triggered and the robots have reassigned goals.

Image 3

Intermediate tours after four more goals have been triggered and the robots have reassigned goals.

Image 4

Final tours executed.
The floorplan used in this simulation is intermediate in design complexity. Observation points/goals assigned to the robots are indicated by blue markers. Image 1 shows a top-down view of the world; the paths indicate the initial tours assigned to the robots by the executor. This image also illustrates the deployment positions of the two robots. 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. When a robot passes a doorway or cannot see into a crevice, a goal/observation point is triggered inside the "newly observed" space. This process incites a new round of bidding between the robots, during which the tasks can be reassigned and new tasks can be added to the task list. In Image 3, all goals specified for the test run have been triggered. Trails indicate the approximate paths robots will take when executing their fifteen tasks.
For a more detailed explanation, see Architecture Text