Validating The Search and Rescue Game Environment As A Robot Simulator By Performing A Simulated Anomaly Detection Task
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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 0.08m/s and 0.7m respectively. ©2008 IEEE.
author list (cited authors)
Craighead, J., Gutierrez, R., Burke, J., & Murphy, R.