Abstract: The UrbanSearchandRescue Simulation used for RoboCup lacks realistic response
of laser range finders on smoke. In this paper, the behavior of a Hokuyo and Sick laser range
finder in a smoky environment is studied. The behavior of the lasers is among others a function of
the visibility level, and in this article this function is quantified into an explicit model. This model
is implemented in a simulation environment which is the basis of the Virtual Robot competition
of the RoboCup Rescue League. The behavior of both real and virtual laser range finders is
compared in a number of validation tests. The validation tests show that the behavior of the
laser range finders in the simulation is consistent with the real world.
Abstract: UrbanSearchandRescue is a growing area of robotic research. The RoboCup Federation has recognized this, and has created the new Virtual Robots competition to complement its existing physical robot and agent competitions. In order to successfully compete in this competition, teams need to field multi-robot solutions that cooperatively explore and map an environment while searching for victims. This paper presents the results of the first annual RoboCup Rescue Virtual competition. It provides details on the metrics used to judge the contestants as well as summaries of the algorithms used by the top four teams. This allows readers to compare and contrast these effective approaches. Furthermore, the simulation engine itself is examined and real-world validation results on the engine and algorithms are offered.