DESCRIPTION OF A SIMULATED ENVIRONMENT DEVELOPED FOR VALIDATING CFS AUTONOMY

Abstract

This paper describes the simulated environment that was prepared for validation of Cognitive Function Synthesis, or CFS, Autonomy. The environment was developed with the V-REP simulator and assembled around the ‘Eric Rohmer’ Pioneer robot. The simulated robot was configured to act as a Behaviour-Based Robot that is constrained to move about the test area, as defined by a state diagram, and based on pre-configured reflexes, provided by the Braitenberg algorithm. Vision sensors, i.e. simulated cameras, were found to be better suited to configure these behaviours than light sensor cues. Initial results suggest that the simulated environment may be used for CFS autonomy validation. This research marks the first simulated environment produced for investigating CFS Autonomy and consequently needs to be further validated.