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

end