Virtual Worlds Generator is a grammatical model
that is proposed to define virtual worlds. It integrates the
diversity of sensors and interaction devices, multimodality and a
virtual simulation system. Its grammar allows the definition and
abstraction in symbols strings of the scenes of the virtual world,
independently of the hardware that is used to represent the world
or to interact with it. A case study is presented to explain how to
use the proposed model to formalize a robot navigation system
with multimodal perception and a hybrid control scheme of the
robot. The result is an instance of the model grammar that
implements the robotic system and is independent of the sensing
devices used for perception and interaction. As a conclusion the
Virtual Worlds Generator adds value in the simulation of virtual
worlds since the definition can be done formally and
independently of the peculiarities of the supporting devices