11,850 research outputs found
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
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris
Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar
Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang
dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai
325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi
Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang
diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan
pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan
hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur
penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan
Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang
mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap.
Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat
hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara
minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif
sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin
tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar
dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam
diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh
itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam
membuat kajian yang akan datang
A decentralized motion coordination strategy for dynamic target tracking
This paper presents a decentralized motion planning
algorithm for the distributed sensing of a noisy dynamical
process by multiple cooperating mobile sensor agents. This
problem is motivated by localization and tracking tasks of
dynamic targets. Our gradient-descent method is based on a
cost function that measures the overall quality of sensing. We
also investigate the role of imperfect communication between
sensor agents in this framework, and examine the trade-offs in
performance between sensing and communication. Simulations
illustrate the basic characteristics of the algorithms
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search
In search applications, autonomous unmanned vehicles must be able to
efficiently reacquire and localize mobile targets that can remain out of view
for long periods of time in large spaces. As such, all available information
sources must be actively leveraged -- including imprecise but readily available
semantic observations provided by humans. To achieve this, this work develops
and validates a novel collaborative human-machine sensing solution for dynamic
target search. Our approach uses continuous partially observable Markov
decision process (CPOMDP) planning to generate vehicle trajectories that
optimally exploit imperfect detection data from onboard sensors, as well as
semantic natural language observations that can be specifically requested from
human sensors. The key innovation is a scalable hierarchical Gaussian mixture
model formulation for efficiently solving CPOMDPs with semantic observations in
continuous dynamic state spaces. The approach is demonstrated and validated
with a real human-robot team engaged in dynamic indoor target search and
capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference
(Cambridge, UK, July 2018
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