CMU Artificial Intelligence Repository
ARS MAGNA: Abstract Robot Simulator
The ARS MAGNA abstract robot simulator provides an abstract world in
which a planner controls a mobile robot. This abstract world is more
realistic than typical blocks worlds, in which micro-world simplifying
assumptions do not hold. Experiments may be controlled by varying
global world parameters, such as perceptual noise, as well as building
specific environments in order to exercise particular planner
features. The world is also extensible to allow new experimental
designs that were not thought of originally. The simulator also
includes a simple graphical user-interface which uses the CLX
interface to the X window system. The simulator is written in Nisp,
a macro-package for Common Lisp.
RPL is the reactive plan language interpreter.
as the file ars-magna.tar.Z
Nisp can be retrieved from the same location.
Version: 1.0 (27-JAN-93)
Requires: Common Lisp, CLX, Nisp, X Windows
Copying: Copyright 1992, Sean P. Engelson, Yale University.
Use, copying, modification, and distribution permitted.
(See file 'copyright' for details.)
CD-ROM: Prime Time Freeware for AI, Issue 1-1
Author(s): Sean Philip Engelson
ARS MAGNA, Agent Architectures, Authors!Engelson,
Authors!McDermott, CLX!Code, Duck, Lisp!Code, Micro-Worlds,
Mobile Robots, Nisp, Planning, RPL, Reactive Planning,
Robotics, Simulators, Testbeds
Version 1.0 of the ARS MAGNA simulator is documented in Yale Technical
Report YALEU/DCS/RR #928, "ARS MAGNA: The Abstract Robot Simulator".
This report is available in the distribution as a PostScript file.
NISP is described in two Yale Technical Reports:
* "The NISP Manual" (June 1983, YALEU/DCS/RR #274).
* "Revised NISP Manual" (August 1988, YALEU/DCS/RR #642).
DUCK is described in two documents:
* "The DUCK Manual" (June 1985, YALEU/DCS/RR #399).
* "DUCK Syntax" (June 1987), an elaboration on the syntax of
DUCK programming, has not been published in printed form
but is available in LaTeX/dvi formats in the "doc" directory.
Drew McDermott 1991 A reactive plan language. Yale Computer Science
Drew McDermott 1992 Transformational planning of reactive behavior.
Yale Computer Science Report~941.
Last Web update on Mon Feb 13 10:28:38 1995