In this paper we consider the problem of creating a two dimensional spatial representation of gas distribution with a mobile robot. In contrast to previous approaches to the problem of gas distribution mapping (GDM) we do not assume that the robot has perfect knowledge about its position. Instead we develop a probabilistic framework for simultaneous localisation and occupancy and gas distributi...

In this note we study the problem of simultaneous stabilization for the algebra AR(D). Invertible pairs (fj , gj), j = 1, . . . , n, in a commutative unital algebra are called simultaneously stabilizable if there exists a pair (α, β) of elements such that αfj + βgj is invertible in this algebra for j = 1, . . . , n. For n = 2, the simultaneous stabilization problem admits a positive solution fo...

In this article we present the basics of manifold relevance determination (MRD) as introduced in [Damianou et al., 2012], and some applications where the technology might be of particular use. Section 1 acts as a short tutorial of the ideas developed in [Damianou et al., 2012], while Section 2 presents possible applications in sensor fusion, multi-agent SLAM, and “humanappropriate” robot moveme...

In this paper, we present the PerceptIn Robotics Vision System (PIRVS) system, a visual-inertial computing hardware with embedded simultaneous localization and mapping (SLAM) algorithm. The PIRVS hardware is equipped with a multi-core processor, a global-shutter stereo camera, and an IMU with precise hardware synchronization. The PIRVS software features a novel and flexible sensor fusion approa...

The problem of simultaneous localisation and mapping (SLAM) has been addressed in numerous ways with different approaches aiming to produce faster, more robust solutions that yield consistent maps. This focus, however, has resulted in a number of solutions that perform poorly in challenging real life scenarios. In order to achieve improved performance and map quality this article proposes a nov...

The wireless localization in sensor network is a work deciding a location of a sensor node. It is necessary to perform the important role such as the geometrical routing, tracking and the detecting based on localization. In this paper, we propose a cooperative localization algorithm to estimate a location of the sensor node in wireless sensor network over LOS signals and NLOS signals environmen...

This paper investigates the suitability of iRobot’s Roomba as a low-cost robotic platform for use in AI research and education. Examining the sensing and actuation capabilities of the vacuum base led us to develop sensor and actuation models more accurate than those provided by the raw API. We validate these models with implementations of Monte Carlo Localization and FastSLAM, algorithms that s...

Cooperative localization allows groups of robots to improve their overall localization by sharing position estimates within the team. In spite of being a well studied problem, very few works deal with the increased complexity when a large number of robots is used, as is the case in robotic swarms. In this paper, we present a characterization and analysis of the cooperative localization problem ...

Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame de-scriptors that could be used to determine distinctive visual landmarks for localizing a person based on what is seen by a camera that they carry. To do this, we created a database containing over 3 km of video-sequences with ground-truth in...