An evaluation of 2D SLAM techniques available in Robot Operating System

n this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbours concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application

Capture, analyse, visualise:An exemplar of performance analysis in practice in field hockey

The goal of performance analysis is to capture the multitude of factors that affect sports strategy, and present them in an informative, interpretable, and accessible format. The aim of this study was to outline a performance analysis process in field hockey that captures, analyses and visualises strategy in layers of detail culminating in the creation of an RStudio Shiny application. Computerised notational analysis systems were developed to capture in-game events and ball tracking data of 74 matches from the Women’s Pro League 2019. Game styles were developed using k-means cluster analysis to reduce detailed in-game events into practical profiles to identify the attack types, game actions and tempo of a team’s strategy. Ball movement profiles were developed to identify the predictability (entropy) and direction (progression rates) of ball movements, and consequent distribution of possession in different attacking zones. The Shiny application, an interactive web-platform, links the information from simple game profiles with detailed game variables to understand each teams’ holistic game plan, how they are different, and how to exploit these differences. The process outlined can be applied to any team invasion sport to understand, develop and communicate successful strategies under different match situations