USARSim Version 3.1 Released

I am pleased to announce a new release of USARSim (Urban Search and Rescue Simulation version 3.1). USARSim is a high fidelity robotics simulator that includes platforms, environments, and sensors and is the basis for the International RoboCup Rescue Virtual League. This release has all of the features and interfaces that are envisioned for the 2007 RoboCup competition. We hope to only have minor bug fixes from now until the competition. In addition, new worlds are ready!

The new release may be found at and the worlds are located at

We have converted last year’s competition and test worlds as well as a new DM-Mapping_250 world (found in the DM-ElementaryTestWorlds_V3.1 files). I strongly encourage everyone to look at this world. It contains an a priori data file that is of the same type and format that will be received in the competition. The world currently has declared areas of green and yellow mobility and victims. Communications notations and possibly red areas will be release shortly. There is also a ground truth file to compare generated maps to, and a vector data file that contains the locations of the victims.

Updated documentation is not yet ready, but will be posted within the week.

Please post any bugs or problems that you encounter. Thanks.

Posted by Stephen Balakirsky 2007-04-18

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