Simulation Tools for Urban Search and Rescue Robotics

Abstract

Real world experiments are critical for validating performance of new concepts and algorithms in robotics field. Yet, experiments tend to be too expensive in terms of time and resources of a research team. Moreover, it is not feasible to conduct thousands of complex experiments with a physical robot in a real environment. To check new ideas, preliminary evaluate new algorithms and interaction protocols, on first stages of a research project it is reasonable to start within a simulation. To produce relevant results, a simulator should provide adequate models of robots and environments with realistic physical properties. This paper presents an overview of our experience in using robot operating system (ROS) with Gazebo and Webots simulators for urban search and rescue robotics projects and considers constructing new models of mobile robots and complicated environments, algorithm validation and comparative analysis.