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|Author(s):||Alexander Kleiner; Christopher Scrapper; Adam S. Jacoff;|
|Title:||RoboCupRescue Interleague Challenge 2009: Bridging the gap between Simulation and Reality|
|Published:||June 30, 2010|
|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 the development of emerging test methods used to evaluate robotic-mapping, the development of a common robotic platform, and the development of a novel map evaluation methodology deployed during the RoboCupRescue competition 2009.|
|Proceedings:||Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009 Conference|
|Pages:||pp. 123 - 129|
|Dates:||September 21-23, 2009|
|Keywords:||laser mapping, robotic mapping, map evaluation,, sensor data sets|
|Research Areas:||Simulation, Robotics, Bomb-disposal robots, Sensors, Perception, Urban search and rescue robots|
|PDF version:||Click here to retrieve PDF version of paper (2MB)|