Abstract:
The ALARIS laboratory is developing a mobile manipulator for POMDP-based
object grasping tasks. It is necessary to develop a simulation environment for testing
purposes. However, the task can be repeated using different robotic platforms after the
completion of the project. As a result, it was decided to develop a simulation framework
that meets the requirements of the project. The requirements for such a framework
were defined through the analysis of the resources with similar setups and goals. These
works were collected through a systematic literature review. With the combination of
the requirements from the initial project and the ones obtained from the literature, the
simulation framework was designed, developed, and tested.