The simulator can be connected to a robot application program even without re-compilation of the application program. The sonar simulation images demonstrate the difference between an ideal measurement vs. the geometrical sonar simulation.
Markings indicate an assumed obstacle.
MOBS has a complex sonar model, including multiple reflections, intensity calculations, and noise, which reflects real world behavior. It uses the PVM tool to connect Sun and SGI workstations and the MasPar. The goals of project CoMRoS are the generation of a software architecture for groups of cooporating autonomous mobile robots as well as the implementation of applications in factory and traffic environments. The vehicles are about 80cm x 100cm in size and weigh about 150kg. Each vehicle has a belt of up to 24 sonar sensors.