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- Robin R. Murphy, Satoshi Tadokoro, +4 authors Aydan M. Erkmen
- Springer Handbook of Robotics
- 2008
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)
- Jason Pusey, Abbas Fattah, Sunil Agrawal, Elena Messina, Adam Jacoff
- IROS
- 2003
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)
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, 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)
- Elena Messina, Adam Jacoff
- 2006
In this paper, we describe work in performance standards for urban search and rescue (USAR) robots begun in 2004 by the Department of Homeland Security. This program is being coordinated by the National Institute of Standards and Technology and will result in consensus standards developed through ASTM International, under the Operational Equipment… (More)
- A. Jacoff, A. Downs, A. Virts, E. Messina
- 2008
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)
- Elena Messina, Adam Jacoff, +4 authors John Blitch
- 2005