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USARSim is a high fidelity robot simulation tool based on a commercial game engine. We illustrate the overall structure of the simulator and we argue about its use as a bridging tool between the RoboCupRescue Real Robot League and the RoboCupRescue Simulation League. In particular we show some results concerning the validation of the system. Algorithms(More)
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(More)
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 have hosted annual rescue robot competitions sponsored by the American Association for Artificial(More)
The RoboCrane is a cable driven, multi-purpose manipulator based on the Stewart Platform Parallel Link Manipulator. It provides six degree-of-freedom load control via teleoperative, graphic off-line programming, and hybrid control modes. Originally, the RoboCrane was developed under a Defense Advanced Research Project Agency (DARPA) contract to stabilize(More)
− 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 orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing(More)
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 significant robot performance data. Stepfield pallets have provided robot mobility challenges for the(More)
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 a moving platform. The algorithms were developed by Robotics CTA members and then assessed in field(More)