Pioneer 3TM User Manual

ActivMedia Robotics 

What’s more, it comes with source code so that you may examine the software and 

modify it for your own sensors and applications. 

Saphira, including the Colbert language, is a full-featured robotics control environment 

developed at SRI International’s Artificial Intelligence Center.  Saphira and its ARIA 

foundation form the robotics-control and applications-development foundation for most 
ActivMedia robot owners and users.  The complete, licensed Saphira robotics 

development environment, including C/C++ libraries, GUI interface and Simulator, comes 

bundled with your ActivMedia robot. 

A separate Laser Navigation and Localization package is available as a Saphira add-on.  
It is a comprehensive suite of software tools and applications by which, with your laser-

scanning/range-finder enabled robot, you automatically create, edit, and use maps 

and floor plans for advanced robotics applications including localization and gradient 
navigation.  

The SRIsim Simulator is a connection option that provides a virtual replacement for your 

ActivMedia robot.  By connecting to the simulator instead of a real robot, you can test 
your client programs, maps, and so on, when the real robot isn’t practical or available. 

Mapper provides the tools you need to construct a map of your robot’s real operating 

space (“world”).   

Commercially introduced in Summer 1995, Pioneer 1 is the original platform.  It came with 

a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating 

System (PSOS) software.  Its low-cost and high-performance caused an explosion in the 
number of researchers and developers who now have access to a real, intelligent mobile 

robotic platform.   

 

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