Technical University of Munich

@inproceedings{stulp_evaluating_2004,
 author = {F Stulp and S Gedikli and M Beetz},
 title = {Evaluating Multi-Agent Robotic Systems Using Ground Truth},
 booktitle = {Proceedings of the Workshop on Methods and Technology for Empirical
	Evaluation of Multi-agent Systems and Multi-robot Teams ({MTEE)}},
 year = {2004},
 abstract = {A thorough empirical evaluation of multi-agent robotic systems is
	greatly facilitated if the {\textbackslash}em true state of the world
	over time can be obtained. The accuracy of the beliefs as well as
	the overall performance can then be measured objectively and efficiently.
	In this paper we present a system for determining the {\textbackslash}em
	ground truth state of the world, similar to the ceiling cameras used
	in {RoboCup} small-size league. We have used this ground truth data
	to evaluate the accuracy of the self- and object-localization of
	the robots in our {RoboCup} mid-size league team, the Agilo {RoboCuppers.}
	More complex models of the state estimation module have also been
	learned. These models provide insight into the workings and shortcomings
	of this module, and can be used to improve it.},
}