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Article #10Yale TR: ARS MAGNA: The Abstract Robot Simulator Manual
From: Sean Philip Engelson
Date: Wed, 04 Nov 1992 18:03
Date: Wed, 04 Nov 1992 18:03
50 lines
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2790 bytes
Yale University Department of Computer Science The following technical report is available electronically by ftp from ftp.cs.yale.edu in directory pub/TR, or as a paper copy, ordered from Paula Murano Yale Department of Computer Science P.O. Box 2158 Yale Station New Haven, CT 06520-2158 murano@cs.yale.edu YALEU/DCS/TR-928 (file tr928.ps.Z) ARS MAGNA: THE ABSTRACT ROBOT SIMULATOR MANUAL Sean P. Engelson and Niklas Bertani October 1992, 77 pages. AI planning research has historically operated in formal abstractions of the real world. This approach was useful in discovering many fundamental issues underlying planning; also, problems in simple domains such as the blocks world can turn out to be surprisingly difficult. Lately attention has turned to planning for more realistic domains in which micro-world simplifying assumptions do not hold. This shift of focus introduces a new problem of validation and comparison of different planning theories and systems. A proper domain for planning problems must be realistically complex but also simple enough to support controlled experimentation. To address these questions, we developed the ARS MAGNA robot simulator. The simulator provides an abstract world in which a planner controls a mobile robot. Mobile robotics is a particularly apposite domain since it is a major application area for AI planning techniques. ARS MAGNA's environment and robot models are based on current robotics research, so that the domain is reasonably realistic. At the same time, we abstracted away from many (though not all) real-world details of kinematics and motor control. Experiments may be controlled by varying global world parameters, such as perceptual noise, as well as building specific environments in order to exercise particular planner features. The world is also extensible to allow new experimental designs that were not thought of originally. -- Sean Philip (Shlomo) Engelson Yale Department of Computer Science Box 2158 Yale Station New Haven, CT 06520 =========================================================================== Co-moderator: Richard Golding, Computer & Information Sciences, UC Santa Cruz compdoc-techreports-request@ftp.cse.ucsc.edu
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Path: arc1-ca.pugleaf.net!sparky!uunet!ukma!usenet.ins.cwru.edu!agate!darkstar.UCSC.EDU!golding From: engelson-sean@cs.yale.edu (Sean Philip Engelson) Newsgroups: comp.doc.techreports Subject: Yale TR: ARS MAGNA: The Abstract Robot Simulator Manual Date: 4 Nov 1992 13:03:49 -0500 Organization: Yale AI Mobile Robotics Project Lines: 52 Approved: compdoc-techreports@ftp.cse.ucsc.edu Message-ID: <1d9klhINN7vi@darkstar.UCSC.EDU> NNTP-Posting-Host: rainier.ucsc.edu Originator: golding@rainier