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Evaluation of RoboCup Maps



Stephen B. Balakirsky, Benjamin Balaguer, Stefano Carpin, Arnoud Visser


This paper describes the steps taken to create the score criteria aimed at measuring the quality of maps produced by teams participating in the RoboCup Rescue Virtual Robots competition. Since metrics have already been developed by a few research groups, we start by highlighting the most popular solutions to this problem, emphasizing their strengths and weaknesses. Having put the difficulty of creating map benchmarks into perspective, we present our map benchmark suite, appropriate for Urban Search and Rescue missions, along with examples taken from former competitions.
Proceedings Title
Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009
Conference Dates
September 21-23, 2009
Conference Location
Gaithersburg, MD


Map evaluation, RoboCup, Performance Metrics, Performance, Measurement


Balakirsky, S. , Balaguer, B. , Carpin, S. and Visser, A. (2009), Evaluation of RoboCup Maps, Proceedings of the Performance Metrics for Intelligent Systems (PerMIS) 2009, Gaithersburg, MD, [online], (Accessed April 24, 2024)
Created December 17, 2009, Updated February 19, 2017