Fawkes needs a world model. The world model's task is to provide a consistent view of the world to all think/act plugins once the sensor readings have been integrated. A problem in the old software was that it could not be guaranteed that all higher level components worked with the same data.

The world model shall:

• integrate local sensor data into one consistent world view
• integrate remote (other robot's) data into the world model
• use fusion approaches to integrate the remote robot's data (later)

It was decided that each robot has its own world model. There is no longer a central world model on a central machine since this leads to unacceptable latencies for communicating the data from all robots to this machine and then back to the robots. All robots will send a defined set of data using a world info UDP protocol via multicast networking. This way each robot gets all the data.

A basic plugin has been written but there is still a lot work left to be done. The next step is to create a simple copy-thru mode which copies the local and maybe some external readings into final interfaces that are then to be used by upper level plugins.