Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape

Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.Comment: 44 pages, 3 figure

Iterative Bayesian Learning for Crowdsourced Regression

Crowdsourcing platforms emerged as popular venues for purchasing human intelligence at low cost for large volume of tasks. As many low-paid workers are prone to give noisy answers, a common practice is to add redundancy by assigning multiple workers to each task and then simply average out these answers. However, to fully harness the wisdom of the crowd, one needs to learn the heterogeneous quality of each worker. We resolve this fundamental challenge in crowdsourced regression tasks, i.e., the answer takes continuous labels, where identifying good or bad workers becomes much more non-trivial compared to a classification setting of discrete labels. In particular, we introduce a Bayesian iterative scheme and show that it provably achieves the optimal mean squared error. Our evaluations on synthetic and real-world datasets support our theoretical results and show the superiority of the proposed scheme

Data Auditing and Security in Cloud Computing: Issues, Challenges and Future Directions

Cloud computing is one of the significant development that utilizes progressive computational power and upgrades data distribution and data storing facilities. With cloud information services, it is essential for information to be saved in the cloud and also distributed across numerous customers. Cloud information repository is involved with issues of information integrity, data security and information access by unapproved users. Hence, an autonomous reviewing and auditing facility is necessary to guarantee that the information is effectively accommodated and used in the cloud. In this paper, a comprehensive survey on the state-of-art techniques in data auditing and security are discussed. Challenging problems in information repository auditing and security are presented. Finally, directions for future research in data auditing and security have been discussed