Bridging the Gap Between Simulation and Reality in Urban Search and Rescue
Bridging the Gap Between Simulation and Reality in Urban Search and Rescue
复制标题
弥合城市搜索救援中模拟与现实之间的差距
DOI：
10.1007/978-3-540-74024-7_1
复制
发表时间：
2006
影响因子：
8.3
通讯作者：
C. Scrapper
中科院分区：
文献类型：
--
作者：
Stefano Carpin;M. Lewis;Jijun Wang;S. Balakirsky;C. Scrapper
近年来，城市搜索和救援方面的研究工作取得了巨大进展。在本文中，我们说明了一个仿真软件，旨在成为参与机器人和多智能体系统的研究人员社区之间的交汇点。该系统允许逼真的机器人，传感器和执行器，以及复杂的非结构化动态环境建模。多个异构代理可以在环境中并发生成。我们解释了如何不同的传感器和执行器已被添加到系统中，并显示如何无缝迁移的代码之间的真实的和模拟机器人是可能的。定量结果支持仿真精度的验证。
Research efforts in urban search and rescue grew tremendously in recent years. In this paper we illustrate a simulation software that aims to be the meeting point between the communities of researchers involved in robotics and multi-agent systems. The proposed system allows the realistic modeling of robots, sensors and actuators, as well as complex unstructured dynamic environments. Multiple heterogeneous agents can be concurrently spawned inside the environment. We explain how different sensors and actuators have been added to the system and show how a seamless migration of code between real and simulated robots is possible. Quantitative results supporting the validation of simulation accuracy are also presented.