Faster than real time robot simulation with real time feedback

The integration of operational sensory feedback with the sensed world model database is discussed, with the focus on the development of a database model of the environment which has the following three characteristics: a basic level of intelligence whereby information about individual objects, as well as repair and maintenance steps, is readily accessible; a degree of accuracy which allows for autonomous offline path planning or time-accelerated interactive path planning; and a means of comparing feedback sensor information with the information stored in the database. A rapid comparison is needed so that objects not modeled in the database can be identified in real time. Compatibility between the preplanned model environment and the as-encountered plant environment will significantly aid in the interpretation of sensor data