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The design of autonomous mobile robots includes the design of team behaviors. We have extended the Dual Dynamics scheme for behavior design in order to let the designer specify team behavior. This approach comes with a tool suite for team behavior specification, simulation, and monitoring , and is used for the coordination of soccer playing robots.
Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations, forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model, (ii)… (More)
In this paper, we describe the GMD-Robots. These robots will be presented at the RoboCup 1999. RoboCup is the robot world cup soccer games and conferences. It offers the opportunity to examine a wide range of technologies in different research areas. RoboCup is a task for a team of multiple moving robots in a dynamic environment. In order for a robot team… (More)
Autonomous mobile robots in dynamic environments have to switch from the " stop and wait until I'm sure " mentality to a continuous movement kind of style. As both the robot and objects in its surrounding move, the robot has to react on sensory input as fast as possible but without becoming instable. This is challenging also because speed increases the… (More)
Robot programs have to be tested systematically on a daily basis in order to improve robot performance in a controlled way. This requires automated support. We present a framework in which the designer can specify a number of test cases and metrics which are then executed by a simulator off-line.
An obstacle avoidance approach is introduced that has dynamic active regions. The dynamic regions are adapted to the current speed of the robot and there are different active regions used, one for speed reduction and one of turning away from obstacles. The overall strategy of this approach is that the robot can drive with high speed which will be reduced in… (More)
In a software development environment any progress is reflected in modifications of design documents. These changes must be attended by recording of versions in order to restore consistent states and to rebuild delivered systems for error detection. The introduction of versions implies the need for version selection mechanisms, to achieve the same degree of… (More)
User interfaces determine the process support that is really delivered to the user. In order to support a process effectively, individually tailored user interfaces have to be provided. Most process centered software engineering environments (PSEEs) provide predefined user interfaces , but only low-level languages which can be used by customers to build… (More)