In this work there will be present an open  Web Client/Server simulation ambient for mobile robots. 
The ambient was build with  Java   language and uses  VRML 2.0 , External Authority Interface (EAI), and Netscape Plug-ins for making applet and VRML to be handled with EAI by Java programs. 

Mobile robots transport an object: 

Rules of the task  
The behavior-based planner

Mobile robots boxes pushing with a bar: 

Rules of the task  
Structure of the robot compared with the human one
The behavior-based planner
How the client applet works

Available animated examples:

Transport objects with mobile robots
Bar pushing of objects with mobile robots

Download the software:

Simulator server/client with examples (362KB)
Simulator Javadoc documentation (191KB)


Known bugs or limitation:

startup of client
client limitations