94,986 research outputs found

    Monte Carlo Localization in Hand-Drawn Maps

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    Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address the localization problem when the map of the environment is not present beforehand, and the robot relies on a hand-drawn map from a non-expert user. We addressed this problem by expressing the robot pose in the pixel coordinate and simultaneously estimate a local deformation of the hand-drawn map. Experiments show that we are able to localize the robot in the correct room with a robustness up to 80

    Robot Navigation in Unseen Spaces using an Abstract Map

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    Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar

    Virginia Woolf: moments of being

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    Put before the labyrinth and proliferation of critical perspectives, studies and readings on Virginia Woolf, entangled in articulations of teleologies and epistemologies, the critic faces a question: from where should she/he start writing, on what and from which critical perspective? These were the circumstances that dictated my choice of writing on “A Sketch of the Past”, published in Moments of Being – A Collection of Autobiographical Writing, (1976, 1985) and of analysing the narrative strategies used by the author to tell herself, to construct her identity and power, giving voice and authority to herself as a discursive formation

    A simple model for the evolution of molecular codes driven by the interplay of accuracy, diversity and cost

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    Molecular codes translate information written in one type of molecules into another molecular language. We introduce a simple model that treats molecular codes as noisy information channels. An optimal code is a channel that conveys information accurately and efficiently while keeping down the impact of errors. The equipoise of the three conflicting needs, for minimal error-load, minimal cost of resources and maximal diversity of vocabulary, defines the fitness of the code. The model suggests a mechanism for the emergence of a code when evolution varies the parameters that control this equipoise and the mapping between the two molecular languages becomes non-random. This mechanism is demonstrated by a simple toy model that is formally equivalent to a mean-field Ising magnet.Comment: Keywords: molecular codes, rate-distortion theory, biological information channels, stochastic maps, genetic code, genetic network
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