ARE: Augmented Reality Environment for Mobile Robots

ARE is a development tool which allows cognitive robotics modelers to construct, at real-time, complex planning scenarios for robots, eliminating the need to model the dynamics of both the robot and the real environment as it would be required by whole simulation environments. The framework also builds a world model representation that serves as ground truth for training and validating algorithms for vision, motion planning and control. The AR-based framework is applied to evaluate the capability of the robot to plan safe paths to goal locations in real outdoor scenarios, while the planning scene dynamically changes, being augmented by virtual objects.