Abstract
This paper presents an advanced implementation of a virtual environment base to develop and test communication protocols for multi-agent systems. The virtual environment provides as 3d simulation tools that allow for more realistic simulations. Embedding human capability into the control system software, the work considers the application of a multiple robots communication system. The currently used full-scale virtual environment is used to evaluate robotic applications; simulating and testing the hardware whilst producing single-robot applications but not to test the communication between multiple robots. The full scale virtual environment is shown to be efficient as it allows users to greater understand the robots' behaviours and increases the efficiency of the evaluation process. The visual assessment outputs using a semi-immersive full-scale environment also has been advantageous in directing numerical analysis.