Bridging the Gap Between Simulation and Reality in Urban Search and Rescue

Authors:
Stefano Carpin;Mike Lewis;Jijun Wang;Steve Balakirsky;Chris Scrapper
Affiliations:
School of Engineering and Science, International University Bremen, Germany;Department of Information Sciences and Telecommunications, University of Pittsburgh, USA;Department of Information Sciences and Telecommunications, University of Pittsburgh, USA;Intelligent Systems Division, National Institute of Standards and Technology, USA;Intelligent Systems Division, National Institute of Standards and Technology, USA
Venue:
RoboCup 2006: Robot Soccer World Cup X
Year:
2006

Citing 3
Cited 9

GameBots: a flexible test bed for multiagent team research

Communications of the ACM - Internet abuse in the workplace and Game engines in scientific research
Human-Robot Teaming for Search and Rescue

IEEE Pervasive Computing
RoboCup 2004 overview

RoboCup 2004

Semi-autonomous Coordinated Exploration in Rescue Scenarios

RoboCup 2007: Robot Soccer World Cup XI
A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps

RoboCup 2007: Robot Soccer World Cup XI
Evaluation of RoboCup maps

PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Scalable target detection for large robot teams

Proceedings of the 6th international conference on Human-robot interaction
Realistic simulation of laser range finder behavior in a smoky environment

RoboCup 2010
Creating photo maps with an aerial vehicle in USARsim

RoboCup 2009
A hybrid agent simulation system of rescue simulation and USARSim simulations from going to fire-escape doors to evacuation to shelters

RoboCup 2009
Image segmentation for robots: fast self-adapting gaussian mixture model

ICIAR'10 Proceedings of the 7th international conference on Image Analysis and Recognition - Volume Part I
Teams organization and performance analysis in autonomous human-robot teams

Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop

Quantified Score

Hi-index	0.00

Visualization

Abstract

Research efforts in urban search and rescue grew tremendously in recent years. In this paper we illustrate a simulation software that aims to be the meeting point between the communities of researchers involved in robotics and multi-agent systems. The proposed system allows the realistic modeling of robots, sensors and actuators, as well as complex unstructured dynamic environments. Multiple heterogeneous agents can be concurrently spawned inside the environment. We explain how different sensors and actuators have been added to the system and show how a seamless migration of code between real and simulated robots is possible. Quantitative results supporting the validation of simulation accuracy are also presented.