RoboCupRescue Interleague Challenge 2009: bridging the gap between simulation and reality

Authors:
Alexander Kleiner;Chris Scrapper;Adam Jacoff
Affiliations:
University of Freiburg, Freiburg, Germany;The MITRE Corporation, McLean, VA;National Institute of Standards and Technology, Gaithersburg, MD
Venue:
PerMIS '09 Proceedings of the 9th Workshop on Performance Metrics for Intelligent Systems
Year:
2009

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Abstract

The RoboCupRescue initiative, represented by real-robot and simulation league, is designed to foster the research and development of innovative technologies and assistive capabilities to help responders mitigate an emergency response situation. This competition model employed by the RoboCupRescue community has proven to be a propitious model, not only for fostering the development of innovative technologies but in the development of test methods used to quantitatively evaluate the performance of these technologies. The Interleague Challenge has been initiated to evaluate real-world performance of algorithms developed in simulation, as well as to drive the development of a common interface to simplify the entry of newcomer teams to the robot league. This paper will discuss 1) the development of emerging test methods used to evaluate robotic-mapping, 2) the development of a common robotic platform, and 3) the development of a novel map evaluation methodology deployed during the RoboCupRescue competition 2009.