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Proceedings Paper

USARSim: a RoboCup virtual urban search and rescue competition
Author(s): Stephen Balakirsky; Chris Scrapper; Stefano Carpin; Mike Lewis
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Paper Abstract

Research efforts in Urban Search And Rescue (USAR) robotics have grown substantially in recent years. A virtual USAR robotic competition was established in 2006 under the RoboCup umbrella to foster collaboration amongst institutions and to provide benchmark test environments for system evaluation. In this paper we describe the physics based software simulation framework that is used in this competition and the rules and performance metrics used to determine the league's winner. The framework allows for the realistic modeling of robots, sensors, and actuators, as well as complex, unstructured, dynamic environments. Multiple heterogeneous agents can be concurrently placed in the simulation environment thus allowing for team or group evaluations.

Paper Details

Date Published: 2 May 2007
PDF: 11 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 65611M (2 May 2007); doi: 10.1117/12.720735
Show Author Affiliations
Stephen Balakirsky, National Institute of Standards and Technology (United States)
Chris Scrapper, National Institute of Standards and Technology (United States)
Stefano Carpin, Univ. of California, Merced (United States)
Mike Lewis, Univ. of Pittsburgh (United States)

Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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