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The National Institute of Standards and Technology has created a set of reference test arenas for evaluating the performance of mobile autonomous robots performing urban search and rescue tasks. The arenas are intended to help accelerate the robotic research community's advancement of mobile robot capabilities. The arenas have been deployed in two(More)
USA Abstract − 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(More)
One approach to measuring the performance of intelligent systems is to develop standardized or reproducible tests. These tests may be in a simulated environment or in a physical test course. The National Institute of Standards and Technology is developing a test course for evaluating the performance of mobile autonomous robots operating in an urban search(More)
The RoboCrane is a cable driven, multipurpose 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)
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)
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)
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)