Algorithms and 3D Extension For Online Probabilistic Change Detection In Feature Based Maps

Many modern localization and mapping techniques rely on sparse feature-based maps as they admit efficient algorithms that can be run in an online manner. Many online simultaneous location and mapping techniques rely on these feature-based maps. However, they often rely on the assumption that the map in question is static. This is not the case in most real-world environments. Robots are increasingly being deployed in dynamic environments such as those found in disaster zones and while driving autonomously. In this work we attempt to capture these dynamics by developing algorithms based on a previously created joint posterior filter over feature persistence. The joint posterior in question applies spatial and temporal priors to each feature allowing us to filter objects for removal from the maps. In addition, we show that the algorithm is robust to various sensor modalities by testing the algorithm in a three-dimensional environment.</p

A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin

Flexible Supervised Autonomy for Exploration in Subterranean Environments

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.Comment: Field Robotics special issue: DARPA Subterranean Challenge, Advancement and Lessons Learned from the Final

Absolute Doubly Differential Angular Sputtering Yields for 20 keV Kr+ on Polycrystalline Cu

We have measured the absolute doubly differential angular sputtering yield for 20 keV Kr+ impacting a polycrystalline Cu slab at an incidence angle of {\theta}i = 45{\deg} relative to the surface normal. Sputtered Cu atoms were captured using collectors mounted on a half dome above the sample, and the sputtering distribution was measured as a function of the sputtering polar, {\theta}s, and azimuthal, phi, angles. Absolute results of the sputtering yield were determined from the mass gain of each collector, the ion dose, and the solid angle subtended, after irradiation to a total fluence of ~ 1 x 10^18 ions/cm^2. Our approach overcomes shortcomings of commonly used methods that only provide relative yields as a function of {\theta}s in the incidence plane (defined by the ion velocity and the surface normal). Our experimental results display an azimuthal variation that increases with increasing {\theta}s and is clearly discrepant with simulations using binary collision theory. We attribute the observed azimuthal anisotropy to ion-induced formation of micro- and nano-scale surface features that suppress the sputtering yield through shadowing and redeposition effects, neither of which are accounted for in the simulations. Our experimental results demonstrate the importance of doubly differential angular sputtering studies to probe ion sputtering processes at a fundamental level and to explore the effect of ion-beam-generated surface roughness.Comment: 29 pages, 9 figure

Present and Future of SLAM in Extreme Underground Environments

This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on lidar-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the dirty details behind the different SubT SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.Comment: 21 pages including references. This survey paper is submitted to IEEE Transactions on Robotics for pre-approva

Large-eddy simulation in an anelastic framework with closed water and entropy balances

A large-eddy simulation (LES) framework is developed for simulating the dynamics of clouds and boundary layers with closed water and entropy balances. The framework is based on the anelastic equations in a formulation that remains accurate for deep convection. As prognostic variables, it uses total water and entropy, which are conserved in adiabatic and reversible processes, including reversible phase changes of water. This has numerical advantages for modeling clouds, in which reversible phase changes of water occur frequently. The equations of motion are discretized using higher-order weighted essentially nonoscillatory (WENO) discretization schemes with strong stability preserving time stepping. Numerical tests demonstrate that the WENO schemes yield simulations superior to centered schemes, even when the WENO schemes are used at coarser resolution. The framework is implemented in a new LES code written in Python and Cython, which makes the code transparent and easy to use for a wide user group

The Development of Therapeutic Antibodies That Neutralize Homologous and Heterologous Genotypes of Dengue Virus Type 1

Antibody protection against flaviviruses is associated with the development of neutralizing antibodies against the viral envelope (E) protein. Prior studies with West Nile virus (WNV) identified therapeutic mouse and human monoclonal antibodies (MAbs) that recognized epitopes on domain III (DIII) of the E protein. To identify an analogous panel of neutralizing antibodies against DENV type-1 (DENV-1), we immunized mice with a genotype 2 strain of DENV-1 virus and generated 79 new MAbs, 16 of which strongly inhibited infection by the homologous virus and localized to DIII. Surprisingly, only two MAbs, DENV1-E105 and DENV1-E106, retained strong binding and neutralizing activity against all five DENV-1 genotypes. In an immunocompromised mouse model of infection, DENV1-E105 and DENV1-E106 exhibited therapeutic activity even when administered as a single dose four days after inoculation with a heterologous genotype 4 strain of DENV-1. Using epitope mapping and X-ray crystallographic analyses, we localized the neutralizing determinants for the strongly inhibitory MAbs to distinct regions on DIII. Interestingly, sequence variation in DIII alone failed to explain disparities in neutralizing potential of MAbs among different genotypes. Overall, our experiments define a complex structural epitope on DIII of DENV-1 that can be recognized by protective antibodies with therapeutic potential