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

Heterogeneous Dimensionality Reduction for Efficient Motion Planning in High-Dimensional Spaces

© 2013 IEEE. Increasing the dimensionality of the configuration space quickly makes trajectory planning computationally intractable. This paper presents an efficient motion planning approach that exploits the heterogeneous low-dimensional structures of a given planning problem. These heterogeneous structures are obtained via a Dirichlet process (DP) mixture model and together cover the entire configuration space, resulting in more dimensionality reduction than single-structure approaches from the existing literature. Then, a unified low-dimensional trajectory optimization problem is formulated based on the obtained heterogeneous structures and a proposed transversality condition which is further solved via SQP in our implementation. The positive results demonstrate the feasibility and efficiency of our trajectory planning approach on an autonomous underwater vehicle (AUV) and a high-dimensional intervention autonomous underwater vehicle (I-AUV) in cluttered 3D environments

Self-Evaluation Applied Mathematics 2003-2008 University of Twente

This report contains the self-study for the research assessment of the Department of Applied Mathematics (AM) of the Faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS) at the University of Twente (UT). The report provides the information for the Research Assessment Committee for Applied Mathematics, dealing with mathematical sciences at the three universities of technology in the Netherlands. It describes the state of affairs pertaining to the period 1 January 2003 to 31 December 2008

Nature’s Optics and Our Understanding of Light

Optical phenomena visible to everyone abundantly illustrate important ideas in science and mathematics. The phenomena considered include rainbows, sparkling reflections on water, green flashes, earthlight on the moon, glories, daylight, crystals, and the squint moon. The concepts include refraction, wave interference, numerical experiments, asymptotics, Regge poles, polarisation singularities, conical intersections, and visual illusions

Academic Year 2019-2020 Faculty Excellence Showcase, AFIT Graduate School of Engineering & Management

An excerpt from the Dean\u27s Message: There is no place like the Air Force Institute of Technology (AFIT). There is no academic group like AFIT’s Graduate School of Engineering and Management. Although we run an educational institution similar to many other institutions of higher learning, we are different and unique because of our defense-focused graduate-research-based academic programs. Our programs are designed to be relevant and responsive to national defense needs. Our programs are aligned with the prevailing priorities of the US Air Force and the US Department of Defense. Our faculty team has the requisite critical mass of service-tested faculty members. The unique composition of pure civilian faculty, military faculty, and service-retired civilian faculty makes AFIT truly unique, unlike any other academic institution anywhere

Program of Research in Aeronautics

A prospectus of the educational and research opportunities available at the Joint Institute for Advancement of Flight Sciences, operated at NASA Langley Research Center in conjunction with George Washington University's School of Engineering and Applied Sciences is presented. Requirements of admission to various degree programs are given as well as the course offerings in the areas of acoustics, aeronautics, environmental modelling, materials science, and structures and dynamics. Research facilities for each field of study are described. Presentations and publications (including dissertations and theses) generated by each program are listed as well as faculty members visting scientists and engineers

VI Workshop on Computational Data Analysis and Numerical Methods: Book of Abstracts

The VI Workshop on Computational Data Analysis and Numerical Methods (WCDANM) is going to be held on June 27-29, 2019, in the Department of Mathematics of the University of Beira Interior (UBI), Covilhã, Portugal and it is a unique opportunity to disseminate scientific research related to the areas of Mathematics in general, with particular relevance to the areas of Computational Data Analysis and Numerical Methods in theoretical and/or practical field, using new techniques, giving especial emphasis to applications in Medicine, Biology, Biotechnology, Engineering, Industry, Environmental Sciences, Finance, Insurance, Management and Administration. The meeting will provide a forum for discussion and debate of ideas with interest to the scientific community in general. With this meeting new scientific collaborations among colleagues, namely new collaborations in Masters and PhD projects are expected. The event is open to the entire scientific community (with or without communication/poster)