文档介绍：Fault-Tolerant Robot Programming through
Simulation with Realistic Sensor Models
Thomas Bräunl; Andreas Koestler & Axel Waggershauser
Mobile Robot Lab, The University of Western Australia, Perth, Australia
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Abstract: We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots
in mon environment. The simulated robots are closely modeled after robots from the EyeBot family and have
an identical application programmer interface. The simulation supports mands at two levels of
abstraction as well as numerous sensors such as shaft encoders, infrared distance sensors, pass.
Simulation of on-board digital cameras via synthetic images allows the use of image processing routines for robot
control within the simulation. Specific error models for actuators, distance sensors, camera sensor, and wireless
communication have been implemented. Progressively increasing error levels for an application program allows
for testing and improving its robustness and fault-tolerance.
Keywords: multi-robot simulation, error models, EyeBot, robustness, fault-tolerance
1. Introduction measurement sensors (PSDs), and a digital color camera
for on-board image processing. A servo is used for the
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