Semantic Simulation Engine for Supervision of Mobile Robotic System

In the paper semantic simulation engine for supervision of mobile robotic system is described. Semantic simulation engine provides tools to implement mobile robot simulation based on real data delivered by robot observations in INDOOR environment. The supervision of real objects such as robots is performed by association with its virtual representation in the simulation, therefore events such as object intersection, robot pitch roll are defined. Semantic simulation engine is composed of data registration modules, semantic entities identification modules and semantic simulation module. The data registration modules delivers 3D point clouds aligned with ICP (Iterative Closest Point) algorithm. Semantic entities identification modules provide implementation of methods for obtaining semantic entities from robot observations. Semantic simulation module executes rigid body simulation with predefined simulation events. The simulation can be integrated with real part of the system with an assumption of robust localization of real entities.