35,723 research outputs found
Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure
Despite recent progress of robotic exploration, most methods assume that
drift-free localization is available, which is problematic in reality and
causes severe distortion of the reconstructed map. In this work, we present a
systematic exploration mapping and planning framework that deals with drifted
localization, allowing efficient and globally consistent reconstruction. A
real-time re-integration-based mapping approach along with a frame pruning
mechanism is proposed, which rectifies map distortion effectively when drifted
localization is corrected upon detecting loop-closure. Besides, an exploration
planning method considering historical viewpoints is presented to enable active
loop closing, which promotes a higher opportunity to correct localization
errors and further improves the mapping quality. We evaluate both the mapping
and planning methods as well as the entire system comprehensively in simulation
and real-world experiments, showing their effectiveness in practice. The
implementation of the proposed method will be made open-source for the benefit
of the robotics community
Experiences on a motivational learning approach for robotics in undergraduate courses
This paper presents an educational experience carried out in robotics undergraduate courses from two
different degrees: Computer Science and Industrial Engineering, having students with diverse
capabilities and motivations. The experience compares two learning strategies for the practical
lessons of such courses: one relies on code snippets in Matlab to cope with typical robotic problems
like robot motion, localization, and mapping, while the second strategy opts for using the ROS
framework for the development of algorithms facing a competitive challenge, e.g. exploration
algorithms. The obtained students’ opinions were instructive, reporting, for example, that although they
consider harder to master ROS when compared to Matlab, it might be more useful in their (robotic
related) professional careers, which enhanced their disposition to study it. They also considered that
the challenge-exercises, in addition to motivate them, helped to develop their skills as engineers to a
greater extent than the skeleton-code based ones. These and other conclusions will be useful in
posterior courses to boost the interest and motivation of the students.Universidad de Málaga. Campus de Excelencia Internacional AndalucĂa Tech
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