Reconfigurable multi-robot virtual environment

摘要

This paper presents the development and the use of reconfigurable virtual robot laboratory for programming, simulation and control of multi-robot operation. Special attention is devoted to fulfillment of basic requirements of the reconfigurability: modularity, scalability, and openness. The reconfigurability of the virtual environment can be considered from two aspects: as a possibility of reconfiguring operational mode and as a possibility of reconfiguring virtual robots and virtual environment. The developed environment is applied in robot programming, testing and remote control to demonstrate its effectiveness. It represents an integrated solution for control of multiple robots with continuous adjustment to the real laboratory environment and robots' usage.