GoLive A modular Mixed Reality Simulation for Semantic Plug and Play

In the field of mobile robotics, the interaction of robots with their environment plays a key role. Simulations serve to simulate a part of the environment so that the partly complex hardware is not damaged in extensive field tests. However, the transition from simulation to reality can be difficult. This paper presents a modular simulation and visualization with mixed reality mechanisms that can be reconfigured at runtime using a new concept called MR devices. A MR device is a physical device that registers with the simulation through self-description mechanisms and can interact with real objects. MR devices themselves can be used as tangible user interfaces in mixed reality visualization, e.g. to influence the composition of the environment. This concept enables the stepwise transition from simulation to reality. The advantages of these intermediate steps are presented by means of three scenarios, on which drones, sensors, infrastructure and also gas emitters are used. GoLive builds on the self-description mechanisms resulting from the own preliminary work: Semantic Plug and Play, in which capabilities and properties can be described by Semantic Web mechanisms and linked to the execution logic of the hardware at runtime.