USARSim: A RoboCup Virtual Urban Search and Rescue Competition

机译：USARSim：RoboCup虚拟城市搜索与救援竞赛

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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.

机译：近年来，城市搜索与救援（USAR）机器人技术的研究工作已大大增加。 2006年，在RoboCup伞下建立了一个虚拟的USAR机器人竞赛，以促进机构之间的协作并为系统评估提供基准测试环境。在本文中，我们描述了本次比赛中使用的基于物理学的软件模拟框架，以及用于确定联盟获胜者的规则和性能指标。该框架允许对机器人，传感器和执行器以及复杂的，非结构化的动态环境进行逼真的建模。可以将多个异构代理同时放置在仿真环境中，从而可以进行团队或小组评估。

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来源
《Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561》|2007年|65611M.1-65611M.11|共11页
会议地点 OrlandoFL(US)
作者
Stephen Balakirsky; Chris Scrapper; Stefano Carpin; Mike Lewis;
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作者单位

National Institute of Standards and Technology, Gaithersburg, MD;

University of California Merced, Merced, CA;

University of Pittsburg, Pittsburg, PA;

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会议组织
原文格式 PDF
正文语种 eng
中图分类自动化系统;
关键词
USAR; multi-agent; robotics; competition; roboCup; USARSim; performance metrics;

机译：美国陆军;多主体机器人技术竞争; roboCup; USARSim；性能指标;

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专利

1. AAAI/RoboCup-2001 Urban Search and Rescue Events: Reality and Competition [J] . Robin Murphy, John Blitch, Jennifer Casper AI Magazine . 2002,第1期

机译：AAAI / RoboCup-2001城市搜寻与救援活动：现实与竞争
2. Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup [J] . Benjamin Balaguer, Stephen Balakirsky, Stefano Carpin, Autonomous robots . 2009,第4期

机译：评估城市搜索和救援机器人制作的地图：从RoboCup中学到的经验教训
3. Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup [J] . Benjamin Balaguer, Stephen Balakirsky, Stefano Carpin, Autonomous Robots . 2009,第4期

机译：评估由城市搜寻和救援机器人制作的地图：从RoboCup中学到的经验教训
4. USARSim: a RoboCup virtual urban search and rescue competition [C] . Stephen Balakirsky, Chris Scrapper, Stefano Carpin, Conference on Unmanned Systems Technology . 2007

机译：USARSIM：Robocup虚拟城市搜索和救援竞争
5. Genetic Algorithms Used for Search and Rescue of Vulnerable People in an Urban Setting [D] . Aljandeel, Shuhad. 2020

机译：用于在城市环境中搜索和拯救弱势群体的遗传算法
6. AiRobSim: Simulating a Multisensor Aerial Robot for Urban Search and Rescue Operation and Training [O] . Junjie Chen, Shuai Li, Donghai Liu, 2020

机译：Airobsim：模拟用于城市搜索和救援运营和培训的多传感器空中机器人
7. USARSim: A RoboCup Virtual Urban Search and Rescue Competition [O] . Stephen Balakirsky A, Stefano Carpin B, Mike Lewis C 2012

机译：USARSim：RoboCup虚拟城市搜索与救援竞赛

USARSim: A RoboCup Virtual Urban Search and Rescue Competition

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