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Sonar and odometer sensors were developed and integrated into the Simulation Environment for Autonomous Robots (SEAR). These new sensors were then validated against a standard simulator, ROSStage as well as on an actual iRobot Create robot using Robot Operating System (ROS). In each simulator, an environment was created to match the real-world test environment. Measurements from the sensors were recorded as the robot (or robot model) was controlled via ROS user code.