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서동진(DongJin Seo),고낙용(NakYong Ko),김성준(SungJun Kim) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
This paper focuses on building multiple robot simulation program controlling the robots via wireless internet and inter-process communication. We tested the proposed simulation program in real heterogeneous multiple robot systems. One of them is TRESTLE project which is a research project in The Robotics Institute of Carnegie Mellon University. The robots in the simulation system are as the followings: a mobile manipulators, crane robot, roving eyes. Also it is tested for motion planning of the Nomad Super Scout II. Using the simulation program reduces a lot of time and cost in algorithm development and also reduces the dangerous job of real hardware test. The simulator is useful to make efficient motion plan of multiple robots as well as verification of the safe motion, So it saves time and cost and reduces possible safety problem.