V. N. Zakharov ,   L. V. Litvintseva ,   S. V. Ulyanov Journal of Computer and Systems Sciences International , vol. 35, No 3 , 01.1996 , p. 445-452, language: английский ISSN 1064-2307  Аннотация Abstract—In this paper, the complexity of the problem of designing a control system for a service robot capa- ble of autonomous motion in the real world, limited by a location plan of motion, is noted. The necessity of simulation modeling of robot actions by means of virtual reality is underlined. The notion of virtual support for design processes is introduced, and a general structure for interaction of the operator and the robot with a virtual design environment is described. The main modules for the interface, the systems of virtual support, a descrip- tion language for the dynamic conditions of the virtual reality, and a simulation block of behavior of the robot for service use in the virtual environment are considered.  Ключевые слова Virtual Environment, Logical design, Service Robot, Fuzzy Information Processing