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Publications

Search Publications by

Adam S. Jacoff (Fed)

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Displaying 1 - 25 of 40

Applying Measurement Science to Evaluate Ground, Aerial, and Aquatic Robots

October 13, 2017
Author(s)
Adam S. Jacoff, Richard Candell, Anthony J. Downs, Hui-Min Huang, Kenneth E. Kimble, Kamel S. Saidi, Ann M. Virts
This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards

Advancing the State of Urban Search and Rescue Robotics through the RoboCupRescue Robot League Competition

July 16, 2012
Author(s)
Raymond K. Sheh, Adam S. Jacoff, Ann M. Virts, Tetsuya Kimura, Johannes Pellenz, Soren Schwertfeger, Jackrit Suthakorn
The RoboCupRescue Robot League is an international competition that has grown to be an effective driver for the dissemination of solutions to the challenges posed by Urban Search and Rescue Robotics and accelerated the development of the performance

Using Competitions to Advance the Development of Standard Test Methods for Response Robots

May 17, 2012
Author(s)
Adam S. Jacoff, Raymond Sheh, Ann Virts, Tetsuya Kimura, Johannes Pellenz, Soren Schwertfeger, Jackrit Suthakorn
Competitions are an effective aid to the development and dissemination of standard test methods, especially in rapidly developing, highly varied fields such as Urban Search and Rescue robotics. By exposing the development process to highly developmental

Emergency Response Robot Evaluation Exercise

March 22, 2012
Author(s)
Adam S. Jacoff, Hui-Min Huang, Ann Virts, Anthony Downs, Raymond Sheh
More than 60 robot test methods are being developed by a team lead by the National Institute of Standards and Technology (NIST) with the sponsorship of U.S. Department of Homeland Security (DHS). These test methods are being specified and standardized

Comprehensive Standard Test Suites for the Performance Evaluation of Mobile Robots

January 31, 2011
Author(s)
Adam S. Jacoff, Hui-Min Huang, Elena R. Messina, Ann M. Virts, Anthony J. Downs
Robots must possess certain sets of capabilities to suit critical operations such as emergency responses. In the mobility function, ground robots must be able to handle many types of obstacles and terrain complexities, including traversing and negotiating

Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric

January 31, 2011
Author(s)
Soren Schwertfeger, Adam S. Jacoff, Christopher Scrapper, Johannes Pellenz, Alexander Kleiner
Mapping is an important task for mobile robots. Assessing the quality of those maps is an open topic. A new approach on map evaluation is presented here. It makes use of artificial objects placed in the environment named "Fiducials". Using the known ground

Performance Measurements for Evaluating Static and Dynamic Multiple Human Detection and Tracking Systems in Unstructured Environments

June 30, 2010
Author(s)
Bodt Bodt, Richard Camden, Harry A. Scott, Adam S. Jacoff, Tsai H. Hong, Tommy Chang, Richard J. Norcross, Anthony Downs, Ann Virts
The Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (CTA) conducted an assessment and evaluation of multiple algorithms for real-time detection of pedestrians in Laser Detection and Ranging (LADAR) and video sensor data taken from

Performance Measures Framework for Unmanned Systems (PerMFUS): Initial Perspective

February 18, 2010
Author(s)
Hui-Min Huang, Elena R. Messina, Adam S. Jacoff
The performance of intelligent unmanned systems (UMS) must be able to be measured to ensure that they can meet the operational requirements. A generic framework to enable capturing and organizing the performance metrics are highly desirable. In this

Quantitative Assessment of Robot-generated Maps

October 8, 2009
Author(s)
Christopher J. Scrapper Jr, Rajmohan Madhavan, Adam S. Jacoff, R Lakaemper, A Censi, Afzal A. Godil, Asim Wagan
Mobile robotic mapping is now considered to be a sufficiently mature field with demonstrated successes in various domains. While there has been much progress made in the development of computationally efficient and consistent mapping schemes, it is still

Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility

December 31, 2008
Author(s)
Adam S. Jacoff, Anthony J. Downs, Ann M. Virts, Elena R. Messina
Stepfield pallets are a fabricated and repeatable terrain for evaluating robot mobility. They were developed to provide emergency responders and robot developers a common mobility challenge that could be easily replicated to capture statistically

Urban Search and Rescue Robot Performance Standards: Progress Update

June 15, 2007
Author(s)
Adam S. Jacoff, Elena R. Messina
In this paper, we describe work in performance standards for urban search and rescue (US&R) robots, begun in 2004 by the Department of Homeland Security. This program is being coordinated by the National Institute of Standards and Technology and will

Measuring the Performance of Urban Search and Rescue Robots

May 17, 2007
Author(s)
Elena R. Messina, Adam S. Jacoff
The Department of Homeland Security is sponsoring development of standards for urban search and rescue (USAR) robots. This program is being coordinated by the National Institute of Standards and Technology and will result in consensus standards developed

Standards Development for Wireless Communications for Urban Search and Rescue Robots

February 26, 2007
Author(s)
Kate Remley, Galen H. Koepke, Elena R. Messina, Adam S. Jacoff, George Hough
To gather data in support of standards development for urban search and rescue robots, NIST is conducting a series of field tests to quantify the functionality and performance of various candidate robots. During these tests, manufacturers bring robots that

Traversability Metrics for Urban Search and Rescue Robots on Rough Terrain

January 31, 2007
Author(s)
V Molino, Rajmohan Madhavan, Elena R. Messina, Anthony J. Downs, Adam S. Jacoff, Stephen B. Balakirsky
Rough terrain, such as the rubble that we would expect to find in urban disaster areas, will likely impede robot mobility. The goal of this paper is to find methods for quantifying the difficulty a robot should encounter traversing a region of rough

DHS/NIST Response Robot Evaluation Exercises

January 8, 2007
Author(s)
Adam S. Jacoff, Elena R. Messina
The Department of Homeland Security, through the Science and Technology Directorate Standards Program, is developing performance standards for robots applied to urban search and rescue (US&R). The National Institute of Standards and Technology (NIST) is

Performance Standards for Urban Search and Rescue Robots

June 26, 2006
Author(s)
Elena R. Messina, Adam S. Jacoff
In this paper, we describe work in performance standards for urban search and rescue (USAR) robots begun in 2004 by the Department of Homeland Security. This program is being coordinated by the National Institute of Standards and Technology and will result

RoboCup 2004: Rescue Robot League

August 31, 2005
Author(s)
Adam S. Jacoff, S Tadokoro
This article discusses the RoboCupRescue Robot League competition held this year in Lisbon, Portugal. These annual competitions increase awareness of the challenges involved in urban search and rescue (USAR) applications, provide objective evaluation of

2003 AAAI Robot Competition and Exhibition

June 1, 2004
Author(s)
S E. Maxwell, Adam S. Jacoff, J Casper, Brian Weiss, Jean C. Scholtz, H A. Yanco, M Micire, D W. Stroup
The fourth annual Rescue Robot Competition took place at the IJCAI/AAAI 2003 Conference in Acapulco, Mexico. The competition encourages participants to contribute to the field of urban search and rescue (USAR) robotics and provides the competitors with a

Test Arenas and Performance Metrics for Urban Search and Rescue Robots

October 31, 2003
Author(s)
Adam S. Jacoff, Elena R. Messina, Brian Weiss, S Tadokoro, Y Nakagawa
In this paper, we discuss the development and proliferation of robot test arenas that provide tangible, realistic, and challenging environments for mobile robot researchers interested in urban search and rescue applications and other unstructured

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

October 1, 2003
Author(s)
H C. Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff
In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

October 1, 2003
Author(s)
JJ Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff
In this paper, we study the design and workspaceof a 6-6 cable-suspended parallel robot. Theworkspace volume is characterized as the set ofpoints where the centroid of the moving platformcan reach with tensions in all suspension cables at a constant

Evolution of a Performance Metric for Urban Search and Rescue Robots (2003)

September 30, 2003
Author(s)
Adam S. Jacoff, Brian A. Weiss, Elena R. Messina
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