3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World

In this paper we present work in progress on the development of a low-cost autonomous robotic platform that integrates multiple state-of-the-art techniques in RGB-D perception to form a system capable of completing a real-world task in an entirely autonomous fashion. The task we set out to complete is determining the location of a preselected object within the physical world. This experiment requires a robotic framework with a number of capabilities including autonomous exploration, dense real-time localisation and mapping, object detection, path planning and motion control

Gamma ray astrophysics: the EGRET results

Cosmic gamma rays provide insight into some of the most dynamic processes in the Universe. At the dawn of a new generation of gamma-ray telescopes, this review summarizes results from the Energetic Gamma Ray Experiment Telescope (EGRET) on the Compton Gamma Ray Observatory, the principal predecessor mission studying high-energy photons in the 100 MeV energy range. EGRET viewed a gamma-ray sky dominated by prominent emission from the Milky Way, but featuring an array of other sources, including quasars, pulsars, gamma-ray bursts, and many sources that remain unidentified. A central feature of the EGRET results was the high degree of variability seen in many gamma-ray sources, indicative of the powerful forces at work in objects visible to gamma-ray telescopes.Comment: 23 pages, 24 figure

Fermi Gamma-ray Space Telescope: High-Energy Results from the First Year

The Fermi Gamma-ray Space Telescope (Fermi) was launched on June 11, 2008 and began its first year sky survey on August 11, 2008. The Large Area Telescope (LAT), a wide field-of-view pair-conversion telescope covering the energy range from 20 MeV to more than 300 GeV, is the primary instrument on Fermi. While this review focuses on results obtained with the LAT, the Gamma-ray Burst Monitor (GBM) complements the LAT in its observations of transient sources and is sensitive to X-rays and gamma-rays with energies between 8 keV and 40 MeV. During the first year in orbit, the Fermi LAT has observed a large number of sources that include active galaxies, pulsars, compact binaries, globular clusters, supernova remnants, as well as the Sun, the Moon and the Earth. The GBM and LAT together have uncovered surprising characteristics in the high-energy emission of gamma-ray bursts (GRBs) that have been used to set significant new limits on violations of Lorentz invariance. The Fermi LAT has also made important new measurements of the Galactic diffuse radiation and has made precise measurements of the spectrum of cosmic-ray electrons and positrons from 20 GeV to 1 TeV.Comment: 39 pages, 16 figure