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

Information-theoretic analysis of multivariate single - cell signaling responses using SLEMI

Mathematical methods of information theory constitute essential tools to describe how stimuli are encoded in activities of signaling effectors. Exploring the information-theoretic perspective, however, remains conceptually, experimentally and computationally challenging. Specifically, existing computational tools enable efficient analysis of relatively simple systems, usually with one input and output only. Moreover, their robust and readily applicable implementations are missing. Here, we propose a novel algorithm to analyze signaling data within the framework of information theory. Our approach enables robust as well as statistically and computationally efficient analysis of signaling systems with high-dimensional outputs and a large number of input values. Analysis of the NF-kB single - cell signaling responses to TNF-a uniquely reveals that the NF-kB signaling dynamics improves discrimination of high concentrations of TNF-a with a modest impact on discrimination of low concentrations. Our readily applicable R-package, SLEMI - statistical learning based estimation of mutual information, allows the approach to be used by computational biologists with only elementary knowledge of information theory