Software

Software developments at the Simulation, Systems Optimization and Robotics Group

MuRoSimF

A simulation of autonomous mobile robots consists of several components like motion- or sensor-simulation. The Multi-Robot-Simulation-Framework (MuRoSimF) enables the transparent exchange and combination of simulation-algorithms differing in level of detail, physical accuracy and computational complexity.

RoboFrame

RoboFrame offers the functionality of a robot middleware, i.e. the communication between sensors, actuators and onboard-computers and various high level control software modules (as localization or behavior control). It therefore supports a modular and flexible architecture and the reuseability of robot hardware and software components. Moreover, it offers active support to the robot programmer through monitoring, debugging and visualization facilities.

XABSL

The Extensible Agent Behavior Specification Language XABSL enables the efficient description of complex behavior of autonomous robots and multi-agent systems by hierarchical state automata.

DIRCOL

Direct collocation method for solving nonlinear, multi-phase optimal control problems subject to constraints.
DIRCOL is one of our most successful developments. It is already (as of spring 2006) being used in more than 80 institutions from research and industry from 25 countries on five continents.

PAREST

Direct multiple shooting method for solving parameter identification and optimal control problems in systems of differential-algebraic equations.