A 3D simulation environment with real dynamics: a tool for benchmarking mobile robot performance in long-term deployments

@inproceedings{Santos2016A3S,
  title={A 3D simulation environment with real dynamics: a tool for benchmarking mobile robot performance in long-term deployments},
  author={Jo{\~a}o Santos and Tom{\'a}{\vs} Krajn{\'i}k and Jaime Pulido Fentanes and Tom Duckett},
  year={2016}
}
This paper describes a method to compare and evaluate mobile robot algorithms for long-term deployment in changing environments. Typically, the long-term performance of state estimation algorithms for mobile robots is evaluated using pre-recorded sensory datasets. However such datasets are not suitable for evaluating decision-making and control algorithms where the behaviour of the robot will be different in every trial. Simulation allows to overcome this issue and while it ensures… CONTINUE READING

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