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 monitoring approach for runtime service discovery

Effective runtime service discovery requires identification of services based on different service characteristics such as structural, behavioural, quality, and contextual characteristics. However, current service registries guarantee services described in terms of structural and sometimes quality characteristics and, therefore, it is not always possible to assume that services in them will have all the characteristics required for effective service discovery. In this paper, we describe a monitor-based runtime service discovery framework called MoRSeD. The framework supports service discovery in both push and pull modes of query execution. The push mode of query execution is performed in parallel to the execution of a service-based system, in a proactive way. Both types of queries are specified in a query language called SerDiQueL that allows the representation of structural, behavioral, quality, and contextual conditions of services to be identified. The framework uses a monitor component to verify if behavioral and contextual conditions in the queries can be satisfied by services, based on translations of these conditions into properties represented in event calculus, and verification of the satisfiability of these properties against services. The monitor is also used to support identification that services participating in a service-based system are unavailable, and identification of changes in the behavioral and contextual characteristics of the services. A prototype implementation of the framework has been developed. The framework has been evaluated in terms of comparison of its performance when using and when not using the monitor component

An evaluation of user acceptance of a corporate intranet

Intranets represent an important organisational resource for knowledge sharing. However, as yet, there has been little research into the quality of intranets and the impact of quality on intranet user acceptance. In the study reported in this paper, an intranet quality assessment tool comprising the dimensions usability, design, and information quality, is combined with perceived usefulness and social influence from the technology acceptance literature to create an intranet acceptance model. The model is applied to the sales and marketing division of an international manufacturing company. Data is collected via a Web survey (n=131, response rate = 65.5%) and tested using the partial least squares approach to structural equation modelling. The results show that intranet quality is a significant factor in determining behavioural intention to use, although it is less important than perceived usefulness and social influence. Comments collected from respondents are used to illustrate the findings and provide an insight into user behaviour. The discussion considers the implications, future research (e.g., the role of social influence in intranet usage) and limitations. The paper rounds off with a short summary

Towards a Scalable Dynamic Spatial Database System

With the rise of GPS-enabled smartphones and other similar mobile devices, massive amounts of location data are available. However, no scalable solutions for soft real-time spatial queries on large sets of moving objects have yet emerged. In this paper we explore and measure the limits of actual algorithms and implementations regarding different application scenarios. And finally we propose a novel distributed architecture to solve the scalability issues.Comment: (2012