Abstract: This paper presents the map evaluation methodology developed for the Virtual Robots Rescue competition held as part of RoboCup. The procedure aims to evaluate the quality of maps produced by multi-robot systems with respect to a number of factors, including usability, exploration, annotation and other aspects relevant to robots and first responders. In addition to the design choices, we illustrate practical examples of maps and scores coming from the latest RoboCup contest, outlining strengths and weaknesses of our modus operandi. We also show how a benchmarking methodology developed for a simulation testbed effortlessly and faithfully transfers to maps built by a real robot. A number of conclusions may be derived from the experience reported in this paper and a thorough discussion is offered.
Abstract: Thanks to advances in both computer science and
engineering, the divide between robotics and multi-agent systems
is shrinking. Robots are capable of performing an ever wider
range of tasks, and there is an increasing need for solutions
to high-level problems such as multi-agent coordination. In this
paper we examine the problem of finding a robust exploration
strategy for a team of mobile robots that takes into account
communication limitations.We propose four performance metrics
to evaluate and compare existing multi-robotexploration algorithms,
and present a role-based approach in which robots either
act as explorers or as relays. The result is a complete exploration
of the environment in which information is efficiently returned
to a central command centre, which is particularly applicable to
the domain of rescue robotics.