A Light-Weighted Event-Based Simulation for the RoboCup Logistics League
摘要
In this paper we will introduce an event-based agent simulation for the RoboCup Logistics League (RCLL). RCLL provides a testbed for the automation of flexible production to allow the development and evaluation of novel concepts and algorithms. The development is stimulated by a competition. Competing teams need to develop a team of autonomous robots able to fabricate on-demand product orders embedded into a flexible factory floor. Simulation plays a major role in developing and testing the needed planning and scheduling algorithms. As previously developed full-fledged simulations are too resource-demanding and hard to use we developed a light-weighted abstract simulation. In this paper we will discuss how the abstraction of the real setup to the simulation has been performed. Moreover, to allow a quick adoption of the simulation by teams within the league a standardized perception-action interface was developed. We will present the concepts and implementation of the simulation in detail. In order to evaluate the usability and potential for adoption a user study was performed with members of the RCLL.