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— This paper presents USARSim, an open source high fidelity robot simulator that can be used both for research and education. USARSim offers many characteristics that differentiates it from most existing simulators. Most notably, it constitutes the simulation engine used to run the Virtual Robots Competition within the Robocup initiative. We describe its(More)
Camera guided teleoperation has long been the preferred mode for controlling remote robots, with other modes such as asynchronous control only used when unavoidable. In this experiment we evaluate the usefulness of asynchronous operation for a multirobot search task. Because controlling multiple robots places additional demands on the operator, removing the(More)
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(More)
Urban Search And Rescue is a growing area of robotic research. The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions. In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an(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)
We are developing interactive simulations of the National Institute of Standards and Technology (NIST) Reference Test Facility for Autonomous Mobile Robots (Urban Search and Rescue). The NIST USAR Test Facility is a standardized disaster environment consisting of three scenarios of progressive difficulty: Yellow, Orange, and Red arenas. The USAR task(More)
– Attitude control refers to controlling the pitch and roll of a mobile robot. As environments grow more complex and cues to a robot's pose sparser it becomes easy for a teleoperator to lose situational awareness. Information from separated attitude displays may be difficult to integrate with an ongoing navigation task and lead to errors. In this paper we(More)