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

Ultra-reliable Low-latency, Energy-efficient and Computing-centric Software Data Plane for Network Softwarization

Network softwarization plays a significantly important role in the development and deployment of the latest communication system for 5G and beyond. A more flexible and intelligent network architecture can be enabled to provide support for agile network management, rapid launch of innovative network services with much reduction in Capital Expense (CAPEX) and Operating Expense (OPEX). Despite these benefits, 5G system also raises unprecedented challenges as emerging machine-to-machine and human-to-machine communication use cases require Ultra-Reliable Low Latency Communication (URLLC). According to empirical measurements performed by the author of this dissertation on a practical testbed, State of the Art (STOA) technologies and systems are not able to achieve the one millisecond end-to-end latency requirement of the 5G standard on Commercial Off-The-Shelf (COTS) servers. This dissertation performs a comprehensive introduction to three innovative approaches that can be used to improve different aspects of the current software-driven network data plane. All three approaches are carefully designed, professionally implemented and rigorously evaluated. According to the measurement results, these novel approaches put forward the research in the design and implementation of ultra-reliable low-latency, energy-efficient and computing-first software data plane for 5G communication system and beyond

Learning Robot Control using a Hierarchical SOM-based Encoding

Hierarchical representations and modeling of sensorimotor observations is a fundamental approach for the development of scalable robot control strategies. Previously, we introduced the novel Hierarchical Self-Organizing Map-based Encoding algorithm (HSOME) that is based on a computational model of infant cognition. Each layer is a temporally augmented SOM and every node updates a decaying activation value. The bottom level encodes sensori-motor instances while their temporal associations are hierarchically built on the layers above. In the past, HSOME has shown to support hierarchical encoding of sequential sensor-actuator observations both in abstract domains and real humanoid robots. Two novel features are presented here starting with the novel skill acquisition in the complex domain of learning a double tap tactile gesture between two humanoid robots. During reproduction, the robot can either perform a double tap or prioritize to receive a higher reward by performing a single tap instead. Secondly, HSOME has been extended to recall past observations and reproduce rhythmic patterns in the absence of input relevant to the joints by priming initially the reproduction of specific skills with an input. We also demonstrate in simulation how a complex behavior emerges from the automatic reuse of distinct oscillatory swimming demonstrations of a robotic salamander

Selected Papers from the 5th International Electronic Conference on Sensors and Applications

This Special Issue comprises selected papers from the proceedings of the 5th International Electronic Conference on Sensors and Applications, held on 15–30 November 2018, on sciforum.net, an online platform for hosting scholarly e-conferences and discussion groups. In this 5th edition of the electronic conference, contributors were invited to provide papers and presentations from the field of sensors and applications at large, resulting in a wide variety of excellent submissions and topic areas. Papers which attracted the most interest on the web or that provided a particularly innovative contribution were selected for publication in this collection. These peer-reviewed papers are published with the aim of rapid and wide dissemination of research results, developments, and applications. We hope this conference series will grow rapidly in the future and become recognized as a new way and venue by which to (electronically) present new developments related to the field of sensors and their applications