By Topic

Validating the Search and Rescue Game Environment as a robot simulator by performing a simulated anomaly detection task

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Jeff Craighead ; Institute for Safety, Security and Rescue Technology at the University of South Florida. 4202 E. Fowler Avenue, Tampa, USA ; Rodrigo Gutierrez ; Jennifer Burke ; Robin Murphy

This paper presents the results from experiments validating the physics and environmental accuracy of a new robot simulation environment, the search and rescue game environment (SARGE), which is the foundation for series of robot-operator training games. An ATRV-Jr. outfitted with a SICK laser, GPS, and compass was used both in the real-world and in a simulated environment modeled after the real-world testing location in a simulated anomaly detection task. The ARTV-Jr., controlled by the Distributed Field Robotics Architecture, navigated through a series of waypoints in the environment. The simulated ATRV-Jr. matched the actions of the real ATRV-Jr. in both velocity and path similarity within 0.08 m/s and 0.7 m respectively.

Published in:

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

22-26 Sept. 2008