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

A survey on active simultaneous localization and mapping: state of the art and new frontiers

Active simultaneous localization and mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active perception appeared, more than three decades ago, this field has received increasing attention across different scientific communities. This has brought about many different approaches and formulations, and makes a review of the current trends necessary and extremely valuable for both new and experienced researchers. In this article, we survey the state of the art in active SLAM and take an in-depth look at the open challenges that still require attention to meet the needs of modern applications. After providing a historical perspective, we present a unified problem formulation and review the well-established modular solution scheme, which decouples the problem into three stages that identify, select, and execute potential navigation actions. We then analyze alternative approaches, including belief-space planning and deep reinforcement learning techniques, and review related work on multirobot coordination. This article concludes with a discussion of new research directions, addressing reproducible research, active spatial perception, and practical applications, among other topics

From Chess and Atari to StarCraft and Beyond: How Game AI is Driving the World of AI

This paper reviews the field of Game AI, which not only deals with creating agents that can play a certain game, but also with areas as diverse as creating game content automatically, game analytics, or player modelling. While Game AI was for a long time not very well recognized by the larger scientific community, it has established itself as a research area for developing and testing the most advanced forms of AI algorithms and articles covering advances in mastering video games such as StarCraft 2 and Quake III appear in the most prestigious journals. Because of the growth of the field, a single review cannot cover it completely. Therefore, we put a focus on important recent developments, including that advances in Game AI are starting to be extended to areas outside of games, such as robotics or the synthesis of chemicals. In this article, we review the algorithms and methods that have paved the way for these breakthroughs, report on the other important areas of Game AI research, and also point out exciting directions for the future of Game AI

Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Facility Location Planning in Relief Logistics: Decision Support for German Authorities

Disasters have devastating impacts on societies, affecting millions of people and businesses each year. The delivery of essential goods to beneficiaries in the aftermath of a disaster is one of the main objectives of relief logistics. In this context, selecting suitable locations for three different types of essential facilities is central: warehouses, distribution centers, and points of distribution. The present dissertation aims to improve relief logistics by advancing the location selection process and its core components. Five studies published as companion articles address substantial aspects of relief logistics. Despite the case studies\u27 geographical focus on Germany, valuable insights for relief logistics are derived that could also be applied to other countries. Study A addresses the importance of public-private collaboration in disasters and highlights the significance of considering differences in resources, capabilities, and strategies when using logistical models. Moreover, power differences, information sharing, and partner selection also play an important role. Study B elaborates on the challenges to identify candidate locations for warehouses, which are jointly used by public and private actors, and suggests a methodology to approach the collaborative warehouse selection process. Study C investigates the distribution center selection process and highlights that including decision-makers\u27 preferences in the objective function of location selection models helps to raise awareness of the implications of location decisions and increases transparency for decision-makers and the general population. Study D analyzes the urban water supply in disasters using a combination of emergency wells and mobile water treatment systems. Selected locations of mobile systems change significantly if vulnerable parts of the population are prioritized. Study E highlights the importance of accurate information in disasters and introduces a framework that allows determining the value of accurate information and the planning error due to inaccurate information. In addition to the detailed results of the case studies, four general recommendations for authorities are derived: First, it is essential to collect information before the start of the disaster. Second, training exercises or role-playing simulations with companies will help to ensure that planned collaboration processes can be implemented in practice. Third, targeted adjustments to the German disaster management system can strengthen the country\u27s resilience. Fourth, initiating public debates on strategies to prioritize parts of the population might increase the acceptance of the related decision and the stockpiling of goods for the people who know in advance that they will likely not receive support. The present dissertation provides valuable insights into disaster relief. Therefore, it offers the potential to significantly improve the distribution of goods in the aftermath of future disasters and increase disaster resilience

Reinforcement in Cooperative Games

Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Επιστήμη Δεδομένων και Μηχανική Μάθηση