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Proceedings Paper

Reference test courses for autonomous mobile robots
Author(s): Adam Jacoff; Elena Messina; John Evans
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Paper Abstract

One approach to measuring the performance of intelligent systems is to develop standardized or reproducible tests. These tests may be in a simulated environment or in a physical test course. The National Institute of Standards and Technology has developed a test course for evaluating the performance of mobile autonomous robots operating in an urban search and rescue mission. The test course is designed to simulate a collapsed building structure at various levels of fidelity. The course will be used in robotic competitions, such as the American Association for Artificial Intelligence (AAAI) Mobile Robot Competition and the RoboCup Rescue. Designed to be repeatable and highly reconfigurable, the test course challenges a robot's cognitive capabilities such as perception, knowledge representation, planning, autonomy and collaboration. The goal of the test course is to help define useful performance metrics for autonomous mobile robots which, if widely accepted, could accelerate development of advanced robotic capabilities by promoting the re-use of algorithms and system components. The course may also serve as a prototype for further development of performance testing environments which enable robot developers and purchasers to objectively evaluate robots for a particular application. In this paper we discuss performance metrics for autonomous mobile robots, the use of representative urban search and rescue scenarios as a challenge domain, and the design criteria for the test course.

Paper Details

Date Published: 20 September 2001
PDF: 8 pages
Proc. SPIE 4364, Unmanned Ground Vehicle Technology III, (20 September 2001); doi: 10.1117/12.439994
Show Author Affiliations
Adam Jacoff, National Institute of Standards and Technology (United States)
Elena Messina, National Institute of Standards and Technology (United States)
John Evans, National Institute of Standards and Technology (United States)

Published in SPIE Proceedings Vol. 4364:
Unmanned Ground Vehicle Technology III
Grant R. Gerhart; Chuck M. Shoemaker, Editor(s)

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