High Fidelity Tools for Rescue Robotics: Results and Perspectives
نویسندگان
چکیده
USARSim is a high fidelity robot simulation tool based on a commercial game engine. We illustrate the overall structure of the simulator and we argue about its use as a bridging tool between the RoboCupRescue Real Robot League and the RoboCupRescue Simulation League. In particular we show some results concerning the validation of the system. Algorithms useful for the search and rescue task have been developed in the simulator and then executed on real robots providing encouraging results.
منابع مشابه
Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment
The increasing interest towards rescue robotics and the complexity of typical rescue environments make it necessary to use high fidelity 3D simulators during the application development phase. USARSim is an open source high fidelity simulator for rescue environments, based on a commercial game engine. In this paper, we describe the development of an autonomous rescue robot within the USARSim si...
متن کاملThe Utilization of High Fidelity Simulation in the Support of UAV Launch Phase Design: Three Case Studies
Improvement of the launch phase of a jet powered Unmanned Aerial Vehicle (UAV) with Jet Assisted Take Off (JATO), has been the subject of attention in the UAV industry. Use of flight simulation tools reduces the risk and required some amount of flight testing for complex aerospace systems. Full nonlinear equations of motion are used to study and simulate this maneuver and three case studies of ...
متن کاملUp from the Rubble: Lessons Learned about HRI from Search and Rescue
The Center for Robot-Assisted Search and Rescue has collected data at three responses (World Trade Center, Hurricane Charley, and the La Conchita mudslide) and nine high fidelity field exercises. Our results can be distilled into four lessons. First, building situation awareness, not autonomous navigation, is the major bottleneck in robot autonomy. Most of the robotics literature assumes a sing...
متن کاملEvolution of a Performance Metric for Urban Search and Rescue Robots (2003)
This paper discusses the advancement and proliferation of the Reference Test Arenas for Urban Search and Rescue Robots as representative search and rescue environments, which allow objective performance evaluation of mobile robot capabilities. These arenas have hosted annual rescue robot competitions sponsored by the American Association for Artificial Intelligence since 2000 and the RoboCupRes...
متن کاملThe Umbra Simulation Framework
Umbra is a new Sandia-developed modeling and simulation framework. The Umbra framework allows users to quickly build models and simulations for intelligent system development, analysis, experimentation, and control and supports tradeoff analyses of complex robotic systems, device, and component concepts. Umbra links together heterogeneous collections of modeling tools. The models in Umbra inclu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005