14,837 research outputs found
SkiMap: An Efficient Mapping Framework for Robot Navigation
We present a novel mapping framework for robot navigation which features a
multi-level querying system capable to obtain rapidly representations as
diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These
are inherently embedded into a memory and time efficient core data structure
organized as a Tree of SkipLists. Compared to the well-known Octree
representation, our approach exhibits a better time efficiency, thanks to its
simple and highly parallelizable computational structure, and a similar memory
footprint when mapping large workspaces. Peculiarly within the realm of mapping
for robot navigation, our framework supports realtime erosion and
re-integration of measurements upon reception of optimized poses from the
sensor tracker, so as to improve continuously the accuracy of the map.Comment: Accepted by International Conference on Robotics and Automation
(ICRA) 2017. This is the submitted version. The final published version may
be slightly differen
Faster linearizability checking via -compositionality
Linearizability is a well-established consistency and correctness criterion
for concurrent data types. An important feature of linearizability is Herlihy
and Wing's locality principle, which says that a concurrent system is
linearizable if and only if all of its constituent parts (so-called objects)
are linearizable. This paper presents -compositionality, which generalizes
the idea behind the locality principle to operations on the same concurrent
data type. We implement -compositionality in a novel linearizability
checker. Our experiments with over nine implementations of concurrent sets,
including Intel's TBB library, show that our linearizability checker is one
order of magnitude faster and/or more space efficient than the state-of-the-art
algorithm.Comment: 15 pages, 2 figure
- …