Faster than real time robot simulation with real time feedback
C. Crane, James S. Tulenko · 2002
The integration of operational sensory feedback with the sensed world model database is discussed, with the focus on the development of a database model of the environment which has the following three characteristics: a basic level of intelligence whereby information about individual objects, as well as repair and maintenance steps, is readily accessible; a degree of accuracy which allows for autonomous offline path planning or time-accelerated interactive path planning; and a means of comparing feedback sensor information with the information stored in the database. A rapid comparison is needed so that objects not modeled in the database can be identified in real time. Compatibility between the preplanned model environment and the as-encountered plant environment will significantly aid in the interpretation of sensor data.>