Mobile Robot Performance in Robotics Challenges: Analyzing a Simulated Indoor Scenario and Its Translation to Real-World

This paper discusses the pros and cons of using 3D simulators for testing the autonomous behavior of mobile robots in indoor environments. Major contribution of the paper is the discussion about which problems that can be faced using the simulator and those that cannot. We present the integration and calibration of a real non-commercial robot in a simulator, the characterization of the errors in sensing, navigation, and manipulation, and how these errors would impact in the real performance of the robot. The experimental support of the claims made in the paper has been developed using the gazebo simulator. RoCKIn competition rulebook defined the indoor restrictions.