Evaluation of RoboCup Maps

This paper describes the steps taken to create the scoring criteria aimed at measuring the quality of maps produced by teams participating in the RoboCup Rescue Virtual Robots competition. Since metrics have already been developed by a few research groups, we start by highlighting the most pop-ular solutions to this problem, emphasizing their strengths and weaknesses. Having put the difficulty of creating map benchmarks into perspective, we present our map bench-mark suite, appropriate for Urban Search and Rescue mis-sions, along with examples taken from former competitions. Categories and Subject Descriptors F.2.3 [Theory of computation]: Analysis of Algorithms and Problem Features—Tradeoffs among complexity mea-sure