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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)
Research efforts in urban search and rescue robotics have grown substantially in recent years. Two important robotic competitions (a robot physical league and a high-level infrastructure simulation league) were established in 2001 under the RoboCup umbrella to foster collaboration amongst institutions and to provide benchmark test environments for system(More)
—Marching along the DARPA SyNAPSE roadmap, IBM unveils a trilogy of innovations towards the TrueNorth cognitive computing system inspired by the brain's function and efficiency. The non-von Neumann nature of the TrueNorth architecture necessitates a novel approach to efficient system design. To this end, we have developed a set of abstractions, algorithms,(More)
— In this paper we investigate whether it is advantageous to merge some ideas formerly found in the randomized potential field planner with our recently introduced adaptive random walks planner. These aspects are biasing the generation of samples, an attractor for the samples generator, and the possibility to backtrack when the planner gets stuck while(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)