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Simulating autonomous robot teams with Microsoft robotics studio

De Rango, Ross and Nahavandi, Saeid 2007, Simulating autonomous robot teams with Microsoft robotics studio, in SimTecT 2007 : Conference proceedings : 4 - 7 June 2007, Brisbane Convention Centre, Brisbane, Queensland Australia, Simulation Industry Association of Australia, Lindfield, N.S.W., pp. 1-6.

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Title Simulating autonomous robot teams with Microsoft robotics studio
Author(s) De Rango, Ross
Nahavandi, Saeid
Conference name SimTecT (12th : 2007 : Brisbane, Qld.)
Conference location Brisbane, Queensland
Conference dates 4-7 June 2007
Title of proceedings SimTecT 2007 : Conference proceedings : 4 - 7 June 2007, Brisbane Convention Centre, Brisbane, Queensland Australia
Publication date 2007
Start page 1
End page 6
Publisher Simulation Industry Association of Australia
Place of publication Lindfield, N.S.W.
Summary This paper presents an application of Microsoft Robotics Studio (MSRS) in which a team of six four wheel drive, ground based robots explore and map simulated terrain. The user has the ability to modify the terrain and assign destination objectives to the team while the simulation is running. The terrain is initially generated using a gray scale image, in which the intensity of each pixel in the image gives an altitude datum. The robots start with no knowledge of their surroundings, and map the terrain as they attempt to reach user-defined target objectives. The mapping process simulates the use of common sensory hardware to determine datum points, including provision for field of view, detection range, and measurement accuracy. If traversal of a mapped area is indicated by the users’ targeting commands, path planning heuristics developed for MSRS by the author in earlier work are used to determine an efficient series of waypoints to reach the objective. Mutability of terrain is also explored- the user is able to modify the terrain without stopping the simulation. This forces the robots to adapt to changing environmental conditions, and permits analysis of the robustness of mapping algorithms used when faced with a changing world.
Notes This paper was originally published in the SimTecT 2007 Conference Proceedings
ISBN 0977525724
9780977525720
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E2 Full written paper - non-refereed / Abstract reviewed
Copyright notice ©2007, Simulation Industry Association of Australia
Persistent URL http://hdl.handle.net/10536/DRO/DU:30014902

Document type: Conference Paper
Collections: School of Engineering and Information Technology
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