Abstract
Research efforts in urban search and rescue grew tremendously in recent years. In this paper we illustrate a simulation software that aims to be the meeting point between the communities of researchers involved in robotics and multi-agent systems. The proposed system allows the realistic modeling of robots, sensors and actuators, as well as complex unstructured dynamic environments. Multiple heterogeneous agents can be concurrently spawned inside the environment. We explain how different sensors and actuators have been added to the system and show how a seamless migration of code between real and simulated robots is possible. Quantitative results supporting the validation of simulation accuracy are also presented.
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Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C. (2007). Bridging the Gap Between Simulation and Reality in Urban Search and Rescue. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds) RoboCup 2006: Robot Soccer World Cup X. RoboCup 2006. Lecture Notes in Computer Science(), vol 4434. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74024-7_1
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DOI: https://doi.org/10.1007/978-3-540-74024-7_1
Publisher Name: Springer, Berlin, Heidelberg
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