Advanced Simulation Architecture for Intelligent Autonomous Robots

摘要

Autonomous and semi-autonomous robotic systems are increasingly being evaluated and used for hazardous operations in both the military and civilian domains. While many of the requirements for the lower-level control functions for these devices are well understood, the issues of higher-level behavior determination and control are only now beginning to be addressed. Flexible simulation tools which can model and simulate the operation of intelligent robotic devices can provide a laboratory for evaluation of higher-level intelligent behaviors in a variety of applications of interest. This paper addresses the issues of creating a flexible, robust architecture for simulating the operation of intelligent robotic systems using the Joint Architecture for Unmanned Systems (JAUS) framework.