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  "abstract": "A control system includes: a plurality of local controllers configured to respectively control a plurality of machines including a robot; a local simulator configured to simulate, based on a local model including a model of the robot and a model of a surrounding environment of the robot, an operation that a local controller corresponding to the robot causes the robot to perform; and a system simulator configured to simulate, based on a system model including models of the plurality of machines and a model of a surrounding environment of the plurality of machines, an operation that the plurality of local controllers cause the machines to perform.",
  "assignees": [
    "YASKAWA ELECTRIC CORP"
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    "Arita Yuta",
    "MARUNO MOTOHARU",
    "OE YUKI",
    "ONOYAMA YOSHIFUMI",
    "WAKAMATSU Tsuyoshi"
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  "title": "Control system with multiple simulators",
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