Mapping and Map Scoring at the RoboCupRescue Competition

Johannes Pellenz & Dietrich Paulus

The RoboCupRescue competition encourages the research on rescue robots: In a simulated disaster site, the task for the robots is to search for victims and to map the environment. The robots are either manually controlled or they explore autonomously. In addition to the number of victims, the quality of the maps and the mobility of the robots is evaluated and awarded in the competition. This paper gives an overview of the RoboCupRescue competition and the test arena with its standardized test elements. Also, the mapping and exploring technique used by team resko@UniKoblenz on the autonomous robot "Robbie X" is presented. Finally, the current map scoring at the RoboCupRescue competition is described and a method to score the maps automatically is proposed.