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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 differentiate 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)
We present a new algorithm for merging occupancy grid maps produced by multiple robots exploring the same environment. The algorithm produces a set of possible transformations needed to merge two maps, i.e translations and rotations. Each transformation is weighted, thus allowing to distinguish uncertain situations, and enabling to track multiple cases when(More)
This paper presents HSM3D, an algorithm for global rigid 6DOF alignment of 3D point clouds. The algorithm works by projecting the two input sets into the Radon/Hough domain, whose properties allow to decompose the 6DOF search into a series of fast one-dimensional cross-correlations. No planes or other particular features must be present in the input data,(More)
Appearance based maps are emerging as an important class of spatial representations for mobile robots. In this paper we tackle the problem of merging together two or more appearance based maps independently built by robots operating in the same environment. Noticing the lack of well accepted metrics to measure the performance of map merging algorithms, we(More)
This paper presents a variable resolution framework for autonomously searching stationary targets in a bounded area. Theoretical formulations are also described for using a probabilistic quadtree data structure, which incorporates imperfect Bayesian (false positive and false negative) detections and informs the searcher's route based on optimizing(More)
The paper presents a genetic algorithm to find and optimize solutions for nonholonomic motion planning problems. Mainly focusing on mobile robots, the algorithm uses present randomized algorithms to come up with suboptimal paths and iteratively optimizes them according to a fitness function which includes domain specific knowledge. The major advantages of(More)