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Simulation of robots in a virtual domain has multiple benefits, including serving as a training tool for end users and serving as a tool for robot testing and development. USARSim (Unified System for Automation and Robot Simulation) is a simulation tool that is being used to accomplish these goals. It is based on the Unreal Tournament 2004 gaming engine, which approximates the physics of how a robot...
Rough terrain, such as the rubble that one would expect to find in urban disaster areas, poses a severe impediment to robot mobility. The goal of this paper' is to develop methods for quantifying the difficulty a robot would encounter traversing such a region of rough terrain. Towards this, three traversability metrics describing rough terrain robot mobility are developed. In order to simplify the...
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