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The USAR TestBed Simulation

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The USAR TestBed Simulation

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    1. The USAR TestBed Simulation Why We Need USAR TestBed [1] Be able to compare “apples to apples” in a technological sense. Being able to “teach to the test”. Reusable to researchers To repeat, debug and improve the usar research GOAL: Improve our Ability to Measure the Capabilities of Autonomous Robots

    2. Two Kind of USAR TestBed High Level Focus on plane making and multi-agent cooperation Low Level Focus on searching and rescuing in a detailed scene.

    3. The NIST USAR TestBed [2] Yellow Region Simple to traverse, no agility requirements Planar (2-D) maze Isolates sensors with obstacles/targets Reconfigurable in real time to test mapping

    4. The NIST USAR TestBed (Cont.) Orange Region More difficult to traverse, variable floorings Spatial (3-D) maze, stairs, ramp, holes Similarly reconfigurable

    5. The NIST USAR TestBed (Cont.) Red Region Difficult to traverse, unstructured environment Simulated rubble piles, shifting floors Problematic junk (rebar, plastic bags, pipes…)

    6. Evaluation of USAR

    7. TestBed Simulation Motivation Cheap Easy to reconfigure Benefits Training Environment understanding research Robot cooperation research Rescue plan making

    8. Environment Simulation House

    9. Environment Simulation (Cont.) Obstacles Brick; Pipe; Rubble etc. Others Glass; Guardrail; Mirror; Light; Temperature; etc.

    10. Environment Simulation (Cont.)

    11. Robot Simulation Multi Rigid Objects Simulation Karma allows you to simulate solid objects such as crates, tyres or bones, as well as different joints, motors or springs between objects. [3] The karma pipeline (right figure) [4] Properties of karma object Mass; LinearDamping; AngularDamping; Friction; Restitution; ImpactThreshold; StartEnabled; StayUpright; AllowRotate

    12. Robot Simulation (Cont.) Vehicle Simulation The Wheel (right figure) Motor Simulation Interpolate Torque-SpinSpeed Curve to get the torque HeadLight Simulation

    13. Robot Simulation (Cont.)

    14. Victim Simulation Mesh Model; Skin; Sound Action Control Skeleton

    15. Sensor Simulation Camera Pitch, Yaw, Roll Zoom in/out (?)

    16. Sensor Simulation Motion Sensors Location, Rotation Velocity, Acceleration Range Sensor Sonar Sensor Temperature Sensor

    17. Future Work Configurable Terrain, Robot & Sensors Rescue Simulation Scene Description Language 3D map browser

    18. Reference [1] Jacoff A., Messina E., Evans J., Experiences in Deploying Test Arenas for Autonomous Mobile Robots, Proceedings of the Performance Metrics For Intelligent Systems (PerMIS) Workshop, in association with IEEE CCA and ISIC, Mexico City, Mexico, Sept 4, 2001 [2] Jacoff A., Messina E., Evans J., Reference Test Arenas for Autonomous Mobile Robots, The 14th International FLAIRS Conference, May 2001 [3] MathEngine, MathEngine Karma User Guide, MathEngine, March 2002.

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