Skip to main content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

An Integrated Control and Simulation Environment for Mobile Robot Software Development

Published

Author(s)

Stephen B. Balakirsky, Frederick M. Proctor, Christopher J. Scrapper Jr, Thomas R. Kramer

Abstract

In order to expedite the research and development of robotic systems and foster development of novel robot configuration, is it essential to develop tools and standards that allow researchers to rapidly develop, communicate, and compare experimental results. This paper describes the Mobility Open Architecture Simulation and Tools Framework (MOAST). The MOAST framework is designed to aid in the development, testing, and analysis of robotic software by providing developers with a wide range of open source robotic algorithms and interfaces. The framework provides a physics-based virtual development environment for initial testing and allows for the seamless transition of algorithms to real hardware. This paper details the design approach, software architecture and specific module-to-module interfaces.
Proceedings Title
Proceedings of IDETC/CIE 2008 ASME 2008 International Design Engineering Technical Conference & Computers and Information in Engineering Conference
Conference Dates
August 4-7, 2008
Conference Location
New York, NY

Keywords

robotics, simulation, mobility, software architecture
Created August 7, 2008, Updated February 19, 2017