---
publication_id: "OT-2026-000001709"
title: "Control system with multiple simulators"
published_at: "2026-09-15T19:07:50.666924Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001709"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/163"
  - "b25j9/163"
  - "b25j9/00"
  - "b25j9/0084"
  - "b25j9/0084"
---

# Control system with multiple simulators

## 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.