Test Arenas and Performance Metrics for Urban Search and Rescue Robots

Adam Jacoff, Elena Messina, Brian A. Weiss, Satoshi Tadokoro, Yuki Nakagawa

Research output: Contribution to conferencePaperpeer-review

95 Citations (Scopus)

Abstract

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 environments. These arenas allow direct comparison of robotic approaches, objective performance evaluation, and can ultimately provide a proving ground for field-able robotic systems such as those used at the World Trade Center collapse. International robot competitions using these arenas require robots to negotiate complex and collapsed structures, find simulated victims, and generate human readable maps of the environment. A performance metric is presented which quantifies several pertinent robot capabilities and produces an overall score used to evaluate and compare robotic implementations. Future directions for the arenas and the competitions are also discussed.

Original languageEnglish
Pages3396-3403
Number of pages8
Publication statusPublished - 2003 Dec 26
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

Keywords

  • Autonomous mobile robots
  • Collaboration
  • Knowledge representation
  • Mapping
  • Performance metrics
  • Planning
  • Sensory perception
  • Urban search and rescue

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Test Arenas and Performance Metrics for Urban Search and Rescue Robots'. Together they form a unique fingerprint.

Cite this