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The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (for example, the Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.
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Akın et al. (2013) studied this question.
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