14,898 research outputs found
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
Control optimization, stabilization and computer algorithms for aircraft applications
The analysis and design of complex multivariable reliable control systems are considered. High performance and fault tolerant aircraft systems are the objectives. A preliminary feasibility study of the design of a lateral control system for a VTOL aircraft that is to land on a DD963 class destroyer under high sea state conditions is provided. Progress in the following areas is summarized: (1) VTOL control system design studies; (2) robust multivariable control system synthesis; (3) adaptive control systems; (4) failure detection algorithms; and (5) fault tolerant optimal control theory
Towards Odor-Sensitive Mobile Robots
J. Monroy, J. Gonzalez-Jimenez, "Towards Odor-Sensitive Mobile Robots", Electronic Nose Technologies and Advances in Machine Olfaction, IGI Global, pp. 244--263, 2018, doi:10.4018/978-1-5225-3862-2.ch012
Versión preprint, con permiso del editorOut of all the components of a mobile robot, its sensorial system is undoubtedly among the most critical
ones when operating in real environments. Until now, these sensorial systems mostly relied on range
sensors (laser scanner, sonar, active triangulation) and cameras. While electronic noses have barely
been employed, they can provide a complementary sensory information, vital for some applications, as
with humans. This chapter analyzes the motivation of providing a robot with gas-sensing capabilities
and also reviews some of the hurdles that are preventing smell from achieving the importance of other
sensing modalities in robotics. The achievements made so far are reviewed to illustrate the current status
on the three main fields within robotics olfaction: the classification of volatile substances, the spatial
estimation of the gas dispersion from sparse measurements, and the localization of the gas source within
a known environment
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