Modelling and Simulation in Engineering / 2016 / Article / Alg 1

Research Article

MARS: An Educational Environment for Multiagent Robot Simulations

Algorithm 1

Sketch of the routines inside the main loop.
for T=0:sampling_time:stop_time
-update animation
-run addons loop functions
-generate sensor measurements
-synchronize simulation
-execute control function
-check motor saturation
-check if robot inside the workspace
-check if the experiment is over
-update robot pose

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