Mobility open architecture simulation and tools environment

This paper will describe the mobility open architecture tools and simulation (MOAST) environment. This environment conforms to the NIST 4D/RCS architecture (Albus et al., 1002) and allows simulated and real architectural components to function seamlessly in the same system. This permits not only the...

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Bibliographic Details
Main Authors: Balakirsky, S., Scrapper, C., Messina, E.
Format: Conference Proceeding
Language:English
Subjects:
Costs
Hardware
Mobile robots
NIST
Personnel
Process planning
Remotely operated vehicles
System testing
Vehicle crash testing
Vehicle safety
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Summary:This paper will describe the mobility open architecture tools and simulation (MOAST) environment. This environment conforms to the NIST 4D/RCS architecture (Albus et al., 1002) and allows simulated and real architectural components to function seamlessly in the same system. This permits not only the development of individual components, but also allows for component performance metrics to be developed and for the components to be evaluated under repeatable conditions. The environment is composed of high-fidelity and low-fidelity simulation systems, a detailed model of real-world terrain, actual hardware components, a central knowledge repository, and architectural glue to tie all of the components together. This paper describe the components in detail and provide an example of how the environment can be utilized to develop and evaluate a single architectural component through the use of repeatable trials and experimentation that includes both virtual and real components functioning together.
DOI:10.1109/KIMAS.2005.1427075