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A Mobile Robot Control Framework: From Simulation to Reality

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 configurations, it is 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 module-to-module interfaces.
Proceedings Title
International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)
Conference Dates
November 3-7, 2008
Conference Location
Venice,

Keywords

architectures, control framework, MOAST, Mobile robots

Citation

Balakirsky, S. , Proctor, F. , Scrapper, C. and Kramer, T. (2007), A Mobile Robot Control Framework: From Simulation to Reality, International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008), Venice, , [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=824717 (Accessed June 18, 2024)

Issues

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Created December 7, 2007, Updated February 17, 2017