Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment

  • Giuliano Polverari
  • Daniele Calisi
  • Alessando Farinelli
  • Daniele Nardi
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4434)


The increasing interest towards rescue robotics and the complexity of typical rescue environments make it necessary to use high fidelity 3D simulators during the application development phase. USARSim is an open source high fidelity simulator for rescue environments, based on a commercial game engine. In this paper, we describe the development of an autonomous rescue robot within the USARSim simulation environment. We describe our rescue robotic system and present the extensions we made to USARSim in order to have a satisfying simulation of our robot. Moreover, as a case study, we present an algorithm to avoid obstacles invisible to our laser scanner based mapping process.


Mobile Robot Robotic System Stereo Vision Real Robot Laser Range Finder 
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.


  1. 1.
    Wang, J., Lewis, M., Gennari, J.: USAR: A Game-Based Simulation for Teleoperation. In: Proc. 47th Ann. Meeting Human Factors and Ergonomics Soc. (2003)Google Scholar
  2. 2.
    Carpin, S., Birk, A., Lewis, M., Jacoff, A.: High fidelity tools for rescue robotics: results and perspectives. In: RoboCup International Symposium 2005 (2005)Google Scholar
  3. 3.
    Wang, J., Lewis, M., Koes, M., Carpin, S.: Validating USARsim for use in HRI Research. In: Proc. of the Human Factors And Ergonomics Society 49th Annual Meeting, pp. 457–461 (2005)Google Scholar
  4. 4.
    Farinelli, A., Grisetti, G., Iocchi, L.: SPQR-RDK: a modular framework for programming mobile robots. In: Proc. of Int. RoboCup Symposium, pp. 653–660 (2004)Google Scholar
  5. 5.
    Jones, J.L., Flynn, A.M.: Mobile Robots - Inspiration to Implementation, A K Peters Ltd. Wellesley, Massachusetts (1993)Google Scholar
  6. 6.
    Scholz, G.R., Rahn, C.D.: Profile Sensing with an Actuated Whisker. IEEE Transactions on Robotics and Automation 20(1), 124–127 (2004)CrossRefGoogle Scholar
  7. 7.
    Fox, D., Burgard, W., Thrun, S., Cremers, A.: A hybrid collision avoidance method for mobile robots. In: Proc. IEEE Int’l Conf. on Robotics and Automation (1998)Google Scholar
  8. 8.
    Calisi, D., Farinelli, A., Iocchi, L., Nardi, D.: Autonomous Navigation and Exploration in a Rescue Environment. In: RoboCup International Symposium 2004 (2004)Google Scholar
  9. 9.
    LaValle, S.M., Kuffner, J.J.: Randomized Kinodynamic Planning. In: Proc. of IEEE Int’l Conf. on Robotics and Automation (1999)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Giuliano Polverari
    • 1
  • Daniele Calisi
    • 1
  • Alessando Farinelli
    • 1
  • Daniele Nardi
    • 1
  1. 1.Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, Via Salaria 113, 00198 RomaItaly

Personalised recommendations