Jill Drury, Holly Yanco, Jean Scholtz
The Competition Environment The National Institute of Standards and Technology has developed a reference test arena for robots in USAR, urban search and rescue [1, 2]. Currently, there are three different arenas that differ by difficulty. We term them as the yellow, orange, and red arenas. Figure 1 shows an overhead view of the red arena used at the Robocup 2004 competition . The arenas were of varying degrees of difficulty. The yellow portion represented a slightly damaged office building; the orange arena contained multiple stories, covered areas, more rubble, and negative obstacles (holes). The red portion was all…
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