Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Smart Grid Communications: Overview of Research Challenges, Solutions, and Standardization Activities

Optimization of energy consumption in future intelligent energy networks (or Smart Grids) will be based on grid-integrated near-real-time communications between various grid elements in generation, transmission, distribution and loads. This paper discusses some of the challenges and opportunities of communications research in the areas of smart grid and smart metering. In particular, we focus on some of the key communications challenges for realizing interoperable and future-proof smart grid/metering networks, smart grid security and privacy, and how some of the existing networking technologies can be applied to energy management. Finally, we also discuss the coordinated standardization efforts in Europe to harmonize communications standards and protocols.Comment: To be published in IEEE Communications Surveys and Tutorial