Bridging the Gap Between Simulation and Reality in Urban Search and Rescue

  • Stefano Carpin
  • Mike Lewis
  • Jijun Wang
  • Steve Balakirsky
  • Chris Scrapper
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4434)


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.


World Modeling Messaging Protocol Simulated Robot Virtual Robot RoboCup Rescue 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Stefano Carpin
    • 1
  • Mike Lewis
    • 2
  • Jijun Wang
    • 2
  • Steve Balakirsky
    • 3
  • Chris Scrapper
    • 3
  1. 1.School of Engineering and Science, International University BremenGermany
  2. 2.Department of Information Sciences and Telecommunications, University of PittsburghUSA
  3. 3.Intelligent Systems Division, National Institute of Standards and TechnologyUSA

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