Publications on Virtual Robots and USARSim

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If you would like to have your papers added to this list, send them to any of the USARSim/Virtual Robots organizers.

Research behind USARSim (incomplete chronological list)


  • O. Formsma, N. Dijkshoorn, S. van Noort and A. Visser, "Realistic Simulation of Laser Range Finder Behavior in a Smoky Environment", Proceedings CD of the 14th RoboCup International Symposium, Singapore, June 2010. To be published in "RoboCup 2010: Robot Soccer World Cup XIV", Lecture Notes on Artificial Intelligence series, Springer, Heidelberg. [pdf]
  • B. Balaguer, S. Balakirsky, S. Carpin and A. Visser (2009). "Evaluating maps produced by urban search and rescue robots: lessons learned from RoboCup", Autonomous Robots 27 (4), pp. 449-464, Springer Netherlands, DOI: 10.1007/s10514-009-9141-z November 2009. [Available online]
  • I. Varsadan, A. Birk, and M. Pfingsthorn (2009). "Determining Map Quality through an Image Similarity Metric", in "RoboCup 2008: Robot Soccer World Cup XII", (edited by L. Iocchi, H. Matsubara, A. Weitzenfeld, C. Zhou), Lecture Notes on Artificial Intelligence series, volume 5339, p. 355-365, Springer, Berlin Heidelberg New York, June 2009. [ pdf ]
  • T. Schmits, Arnoud Visser (2009). "An Omnidirectional Camera Simulation for the USARSim World" in "RoboCup 2008: Robot Soccer World Cup XII", (edited by L. Iocchi, H. Matsubara, A. Weitzenfeld, C. Zhou), Lecture Notes on Artificial Intelligence series, volume 5339, p. 296-307, Springer, Berlin Heidelberg New York, June 2009 [ pdf ]
  • B. Balaguer, S. Carpin (2008). "Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications". Proceedings of the First International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR '08) [pdf]
  • M. Lewis, J. Wang, and S. Hughes (2007). "USARSim : Simulation for the Study of Human-Robot Interaction", Journal of Cognitive Engineering and Decision Making, (1)1, 98-120. [ pdf ]
  • S. Carpin, M. Lewis, J. Wang, S. Balakirsky, C. Scrapper (2007). USARSim: a robot simulator for research and education. Proceedings of the 2007 IEEE Conference on Robotics and Automation, pp. 1400-1405 [ pdf ].
  • S. Carpin, M. Lewis, J. Wang, S. Balakirsky, C. Scrapper (2007). "Bridging the gap between simulation and reality in urban search and rescue". Robocup 2006: Robot Soccer World Cup X, LNAI Vol. 4434 Springer, pp. 1–12 [ pdf ]
  • M. Zaratti, M. Fratarcangeli, L. Iocchi (2007). "A 3D Simulator of Multiple Legged Robots based on USARSim". Robocup 2006: Robot Soccer World Cup X, Springer, LNAI Vol. 4434 Springer, pp. 13–24 [ pdf ]
  • S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis, J. Wang (2006). "Quantitative Assessments of USARSim Accuracy". Proceedings of PerMIS 2006 [ pdf ]
  • S. Balakirsky, C. Scrapper, S. Carpin, M. Lewis (2006). "USARSim: providing a framework for multi-robot performance evaluation". Proceedings of PerMIS 2006 [ pdf ]
  • S. Carpin, J. Wang, M. Lewis, A. Birk, A. Jacoff (2006). "High fidelity tools for rescue robotics: results and perspectives". Robocup 2005: Robot Soccer World Cup IX, Springer, LNAI Vol. 4020, Springer, pp. 301-311 [ pdf ]
  • J. Wang, M. Lewis, S. Hughes, M. Koes, and S. Carpin (2005). Validating USARsim for use in HRI Research, Proceedings of the Human Factors and Ergonomics Society 49th Annual Meeting, pp. 457-461. [ pdf ]
  • Nourbakhsh, S. Sycara, M. Koes, M. Young, M. Lewis, and S. Burion, (2005). Human-Robot Teaming for Search and Rescue, Pervasive Computing, IEEE, pp. 72-78. [ pdf ]
  • M. Lewis, K. Sycara, and I. Nourbakhsh (2003) Developing a Testbed for Studying Human-robot Interaction in Urban Search and Rescue Proceedings of the 10th International Conference on Human Computer Interaction (HCII'03), Crete, Greece, June 22-27. [ html ]
  • J. Wang, M. Lewis, and J. Gennari (2003) A Game Engine Based Simulation of the NIST USAR Arenas, Proceedings of the 2003 Winter Simulation Conference, New Orleans, LA, pp. 1039-1045. [ pdf ]
  • J. Wang, M. Lewis, and J. Gennari (2003). Interactive Simulation of the NIST USAR Arenas. Proceedings of the 2003 IEEE International Conference on Systems, Man, and Cybernetics, Washington, DC, October 5-8., pp. 1350-1354. [ pdf ]
  • J. Wang, M. Lewis, and J. Gennari (2003). USAR: A Game-Based Simulation for Teleoperation. Proceedings of the 47th Annual Meeting of the Human Factors and Ergonomics Society, Denver, CO, Oct. 13-17, pp. 493-497. [ pdf ]


Research using USARSim (incomplete chronological list)

  • M. van der Velden, W. Josemans, B. Huijten and A. Visser, "Application of Traversability Maps in the Virtual Rescue competition", Proceedings of the RoboCup IranOpen 2010 Symposium (RIOS10), April 2010. [pdf]
  • F. Alnajar, H. Nijhuis, and A. Visser (2010). “Coordinated action in a Heterogeneous Rescue Team”, in "RoboCup 2009: Robot Soccer World Cup XIII", (edited by J. Baltes et al.), Lecture Notes on Artificial Intelligence series, volume 5949, p. 1-10, Springer, Heidelberg, February 2010. [pdf]
  • S. Balakirsky, S. Carpin and M. Lewis (2009), "Robots, Games, and Research: Success stories in USARSim", Workshop Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, Missouri, USA, October 2009. [pdf]
  • A. Visser, B.A. Slamet and M. Pfingsthorn (2009), "Robust Weighted Scan Matching with Quadtrees", in "Proc. of the Fifth International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED 2009)", Graz, Austria, July 2009. [pdf].
  • S. Roebert, T. Schmits, and A. Visser (2008). “Creating a Bird-Eye View Map using an Omnidirectional Camera”, 20th Belgian-Netherlands Conference on Artificial Intelligence (BNAIC 2008), page 233-240, University of Twente, Enschede, the Netherlands October 30-31, 2008 [pdf].
  • P. Velagapudi, P. Scerri, K. Sycara, H. Wang, M. Lewis, and J. Wang (2008). “Scaling Effects in Multi-robot Control”, IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008 Page(s):2121 - 2126 [pdf ].
  • J. Wang, H. Wang, M. Lewis, P. Scerri, P. Velagapudi, and K. Sycara K.(2008). “Experiments in Coordination Demand for MultiRobot Systems”, Proceedings of IEEE SMC International Conference on Distributed Human-Machine Systems(DHMS'08), IEEE [ pdf ].
  • J. Wang, H. Wang and M. Lewis (2008). Assessing Cooperation in Human Control of Heterogeneous Robots, Proceedings of the Third ACM/IEEE International Conference on Human-Robot Interaction (HRI'08), IEEE [ pdf ].
  • P. Velagapudi, J. Wang, H. Wang, P. Scerri, M. Lewis and K. Sycara (2008). Synchronous vs. Asynchronous Video in Multi-Robot Search, Proceedings of first International Conference on Advances in Computer-Human Interaction (ACHI'08), IEEE [ pdf ].
  • D. Sun, A. Kleiner, and T. M. Wendt (2008). "Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban Search and Rescue", in In Robocup 2008: Robot Soccer World Cup XII, 2008 [ pdf ]
  • A. Visser, Xingrui-J., M. van Ittersum, L.A. González Jaime and L.A. Stancu (2008). "Beyond frontier exploration", in "RoboCup 2007: Robot Soccer World Cup XI", (edited by U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert), Lecture Notes on Artificial Intelligence series, volume 5001, p. 113-123, Springer, Berlin Heidelberg New York, July 2008 [ pdf ]
  • M. Pfingsthorn, B. Slamet and A. Visser (2008). "A Scalable Hybrid Multi-Robot SLAM Method for Highly Detailed Maps", in "RoboCup 2007: Robot Soccer World Cup XI", (edited by U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert), Lecture Notes on Artificial Intelligence series, volume 5001, p. 457-464, Springer, Berlin Heidelberg New York, July 2008 [ pdf ]
  • A. Visser and B.A. Slamet (2008). "Including communication success in the estimation of information gain for multi-robot exploration", in "International Workshop on Wireless Multihop Communications in Networked Robotics", Berlin, April 4, 2008. [pdf ]
  • A. Visser and B.A. Slamet (2008). "Balancing the information gain against the movement cost for multi-robot frontier exploration", in "European Robotics Symposium 2008", (edited by Herman Bruyninckx, Libor Přeučil and Miroslav Kulich), Springer Tracts in Advanced Robotics, volume 44, pages 43-52, Springer-Verlag, Berlin / Heidelberg, February 12, 2008. [pdf ]
  • V.A. Ziparo, A. Kleiner, B. Nebel, and D. Nardi (2007). "RFID-Based Exploration for Large Robot Teams", Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2007, pp. 4606-4613. [ pdf ]
  • M. Lewis and J. Wang (2007). Gravity referenced attitude display for mobile robots : Making sense of what we see,Transactions on Systems, Man and Cybernetics Part A, 37(1), 94-105. [ pdf ]
  • J. Wang and M. Lewis (2007) Human control of cooperating robot teams, 2007 Human-Robot Interaction Conference (HRI'07), ACM [ pdf ]
  • S. Balakirsky, S. Carpin, A.Kleiner, M. Lewis, A. Visser, J. Wang and V.A. Ziparo (2007). "Towards heterogeneous robot teams for disaster mitigation: Results and Performance Metrics from RoboCup Rescue". Journal of Field Robotics 24(11-12):943-967, 2007 [ pdf ]
  • A. Visser, B. Slamet, T. Schmits, L.A. González Jaime and A. Ethembabaoglu (2007). "Design decisions of the UvA Rescue 2007 Team on the Challenges of the Virtual Robot competition", Proc. of the Fourth International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster, July 2007, Atlanta, GA (pp. 20-26). [ pdf ]
  • J. Wang, and M. Lewis, (2006). Autonomy in human-robot control, Proceedings of the 50th Annual Meeting of the Human Factors and Ergonomics Society. [ pdf ]
  • J. Wang, M. Lewis, and P. Scerri (2006). Cooperating robots for search and rescue, Proceedings of the AAMAS 1st International Workshop on Agent Technology for Disaster Management, 92-99. [ pdf ]
  • Nielsen and M. Goodrich (2006). Comparing the Usefulness of Video and Map Information in Navigation Tasks. In Proceedings of the 2006 Human-Robot Interaction Conference. Salt Lake City, Utah, March 2-4, 2006. [ pdf ]
  • F. Phillips, M. Voshell, D. Woods (2005). Overcoming the Keyhole in Human-Robot Coordination: Simulation and Evaluation, Proceedings of the Human Factors and Ergonomics Society 49th Annual Meeting, 442-446. [ pdf ]
  • Hughes, S. and M. Lewis. (2005). Task-Driven Camera Operations for Robotic Exploration. Transactions on Systems, Man and Cybernetics Part A, IEEE, 35(4), 513-522. [ pdf ]
  • S. Hughes and M. Lewis (2004). Assisted Viewpoint Control for Tele-Robotic Search, Proceedings of the Human Factors and Ergonomics Society 48th Annual Meeting (HFES'05), 2657-2661. [ pdf ]
  • J. Wang, M. Lewis, and S. Hughes (2004). Gravity-Referenced Attitude Display for Teleoperation of Mobile Robots, Proceedings of the Human Factors and Ergonomics Society 48th Annual Meeting (HFES'05), 2662-2666. [ pdf ]
  • S. Hughes, M. Lewis (2004) Robotic camera control for remote exploration, Proceedings of the 2004 Conference on Human Factors in Computing Systems (CHI 2004), April 24-29, Vienna, Austria, ACM, 511-517. [ pdf ]
  • S. Hughes, J. Manojlovich, M. Lewis, and J. Gennari, (2003) Camera Control and Decoupled Motion for Teleoperation. Proceedings of the 2003 IEEE International Conference on Systems, Man, and Cybernetics, Washington, DC, October 5-8, pp. 1339-1334. [ pdf ]
  • M. Lewis, J. Wang, J. Manojlovich, S. Hughes, and X. Liu (2003). Experiments with Attitude: Attitude Displays for Teleoperation. Proceedings of the 2003 IEEE International Conference on Systems, Man, and Cybernetics, Washington, DC, October 5-8, pp. 1345-1349. [ pdf ]

Theses

This list is maintained at the USARSim success story page

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