Special Issue on Probabilistic Robotics and SLAM

2019 ◽  
Vol 31 (2) ◽  
pp. 179-179
Author(s):  
Keigo Watanabe ◽  
Shoichi Maeyama ◽  
Tetsuo Tomizawa ◽  
Ryuichi Ueda ◽  
Masahiro Tomono
Keyword(s):  
Mobile Robots ◽  
Measurement Errors ◽  
Mobile Robotics ◽  
Indoor Localization ◽  
Autonomous Driving ◽  
Special Issue ◽  
Practical Applications ◽  
Localization And Mapping ◽  
Downhill Simplex ◽  
Probabilistic Robotics

Intelligent mobile robots need self-localization, map generation, and the ability to explore unknown environments autonomously. Probabilistic processing can be applied to overcome the problems of movement uncertainties and measurement errors. Probabilistic robotics and simultaneous localization and mapping (SLAM) technologies are therefore strongly related, and they have been the focus of many studies. As more and more practical applications are found for intelligent mobile robots, such as for autonomous driving and cleaning, the applicability of these techniques has been increasing. In this special issue, we provide a wide variety of very interesting papers ranging from studies and developments in applied SLAM technologies to fundamental theories for SLAM. There are five academic papers, one each on the following topics: first visit navigation, controls for following rescue clues, indoor localization using magnetic field maps, a new solution for self-localization using downhill simplex method, and object detection for long-term map management through image-based learning. In addition, in the next number, there will be a review paper by Tsukuba University’s Prof. Tsubouchi, who is famous for the Tsukuba Challenge and research related to mobile robotics. We editors hope this special issue will help readers to develop mobile robots and use SLAM technologies and probabilistic approaches to produce successful applications.

scholarly journals Visual Semantic Landmark-Based Robust Mapping and Localization for Autonomous Indoor Parking

Sensors ◽  
2019 ◽  
Vol 19 (1) ◽  
pp. 161 ◽  
Author(s):  
Junqiao Zhao ◽  
Yewei Huang ◽  
Xudong He ◽  
Shaoming Zhang ◽  
Chen Ye ◽  
...  
Keyword(s):  
Real Time ◽  
Autonomous Vehicles ◽  
Indoor Localization ◽  
Autonomous Driving ◽  
Human Beings ◽  
Low Level ◽  
Localization And Mapping ◽  
Challenging Tasks ◽  
Parking Lot ◽  
Feature Based

Autonomous parking in an indoor parking lot without human intervention is one of the most demanded and challenging tasks of autonomous driving systems. The key to this task is precise real-time indoor localization. However, state-of-the-art low-level visual feature-based simultaneous localization and mapping systems (VSLAM) suffer in monotonous or texture-less scenes and under poor illumination or dynamic conditions. Additionally, low-level feature-based mapping results are hard for human beings to use directly. In this paper, we propose a semantic landmark-based robust VSLAM for real-time localization of autonomous vehicles in indoor parking lots. The parking slots are extracted as meaningful landmarks and enriched with confidence levels. We then propose a robust optimization framework to solve the aliasing problem of semantic landmarks by dynamically eliminating suboptimal constraints in the pose graph and correcting erroneous parking slots associations. As a result, a semantic map of the parking lot, which can be used by both autonomous driving systems and human beings, is established automatically and robustly. We evaluated the real-time localization performance using multiple autonomous vehicles, and an repeatability of 0.3 m track tracing was achieved at a 10 kph of autonomous driving.

Special Issue on Modern Trends in Mobile Robotics

2002 ◽  
Vol 14 (4) ◽  
pp. 323-323
Author(s):  
Takashi Tsubouchi ◽  
◽  
Keiji Nagatani ◽  
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
High Speed ◽  
Mobile Robotics ◽  
Low Cost ◽  
Electronic Devices ◽  
Mobile Robot Navigation ◽  
Map Building ◽  
Special Issue

Since the dawning of the Robotics age, mobile robots have been important objectives of research and development. Working from such aspects as locomotion mechanisms, path and motion planning algorithms, navigation, map building and localization, and system architecture, researchers are working long and hard. Despite the fact that mobile robotics has a shorter history than conventional mechanical engineering, it has already accumulated a major, innovative, and rich body of R&D work. Rapid progress in modern scientific technology had advanced to where down-sized low-cost electronic devices, especially highperformance computers, can now be built into such mobile robots. Recent trends in ever higher performance and increased downsizing have enabled those working in the field of mobile robotics to make their models increasingly intelligent, versatile, and dexterous. The down-sized computer systems implemented in mobile robots must provide high-speed calculation for complicated motion planning, real-time image processing in image recognition, and sufficient memory for storing the huge amounts of data required for environment mapping. Given the swift progress in electronic devices, new trends are now emerging in mobile robotics. This special issue on ""Modern Trends in Mobile Robotics"" provides a diverse collection of distinguished papers on modern mobile robotics research. In the area of locomotion mechanisms, Huang et al. provide an informative paper on control of a 6-legged walking robot and Fujiwara et al. contribute progressive work on the development of a practical omnidirectional cart. Given the importance of vision systems enabling robots to survey their environments, Doi et al., Tang et al., and Shimizu present papers on cutting-edge vision-based navigation. On the crucial subject of how to equip robots with intelligence, Hashimoto et al. present the latest on sensor fault detection in dead-reckoning, Miura et al. detail the probabilistic modeling of obstacle motion during mobile robot navigation, Hada et al. treat long-term mobile robot activity, and Lee et al. explore mobile robot control in intelligent space. As guest editors, we are sure readers will find these articles both informative and interesting concerning current issues and new perspectives in modern trends in mobile robotics.

Special Issue on Robot Motion Planning

1996 ◽  
Vol 8 (1) ◽  
pp. 1-1
Author(s):  
Hiroshi Noborio ◽  
◽  
Takashi Tsubouchi ◽  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Mobile Robotics ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Time Varying ◽  
Special Issue ◽  
On Line ◽  
Time Varying Environment

This special issue is devoted to robot motion planning. The main scope of this issue covers research work on mobile robotics. Motion planning is necessary when the robot determines its own actions. For the last decade, the paradigm of motion planning in mobile robotics has shifted from off-line motion planning to on-line motion planning and from planning in a static environment to planning in a time-varying environment. Recent progress of computational power has enabled this paradigm shift, since on-line motion planning and planning in time-varying environments require repeated computation based on sensory information which is always renewed. The guest editors organized this special issue in order to highlight those two new paradigms. We present two survey papers: One is a survey of on-line motion planning for a sensor-based navigation of a mobile robot, and the other is a survey of motion planning for mobile robots in a time-varying environment. Along with the survey papers, distinguished technical papers are provided in this special issue. Concerning path planning, a paper describing a case study on motion planning with teaching is included (Ogata et al). Motion planning based on Fuzzy logic is one approach, and three papers from Maeda, Ishikawa et al. and Nagata et al. also belong to this category. To offer a case study on reactive motion decision making, one paper by Ando et al. is included. A recently emerging subject is related to motion planning for cooperation of multiple mobile robots or a single robot among multiple moving obstacles. Three papers from Yoshioka et al., Ota et al., and Fujimura discuss problems on motion planning for cooperation of multiple mobile robots. One paper from Tsubouchi et al. discussed the motion planning of a single robot among multiple moving obstacles. Motion planning to select an appropriate corner cube as a landmark is addressed in the paper from Hashimoto et al. The guest editors hope that this special issue will provide the readers with a lock at some current issues and new perspectives on robot motion planning.

Utilization of the Oculus Rift HMD in Mobile Robot Teleoperation

2014 ◽  
Vol 555 ◽  
pp. 199-208 ◽  
Author(s):  
Tomáš Kot ◽  
Petr Novák
Keyword(s):  
User Interface ◽  
Remote Control ◽  
Mobile Robots ◽  
Graphical User Interface ◽  
Additional Data ◽  
Mobile Robotics ◽  
3D Display ◽  
Oculus Rift ◽  
Head Mounted Display ◽  
In The Beginning

This paper mentions some problems related to utilization of a head-mounted display (HMD) for remote control of mobile robots by a human operator and also presents a possible solution. Considered is specifically the new HMD device called Oculus Rift, which is a very interesting device because of its great parameters and low price. The device is described in the beginning, together with some of the specific principles of the Oculus 3D display. Then follows the design of a new graphical user interface for teleoperation, with main focus on visualization of stereoscopic images from robot cameras. Demonstrated is also a way how to display additional data and information to the operator. The overall aim is to create a comfortable and highly effective interface suitable both for exploration and manipulation tasks in mobile robotics.

scholarly journals VECTOR MAPS IN MOBILE ROBOTICS

2015 ◽  
Vol 2 (2) ◽  
pp. 22-28 ◽  
Author(s):  
Ales Jelinek
Keyword(s):  
Data Acquisition ◽  
Navigation System ◽  
Mobile Robotics ◽  
Map Building ◽  
Scan Matching ◽  
Line Extraction ◽  
Current State ◽  
Vector Maps ◽  
Localization And Mapping ◽  
University Of Technology

The aim of this paper is to provide a brief overview of vector map techniques used in mobile robotics and to present current state of the research in this field at the Brno University of Technology. Vector maps are described as a part of the simultaneous localization and mapping (SLAM) problem in the environment without artificial landmarks or global navigation system. The paper describes algorithms from data acquisition to map building but particular emphasis is put on segmentation, line extraction and scan matching algorithms. All significant algorithms are illustrated with experimental results.

Comments on the special issue

2018 ◽  
Vol 31 (2) ◽  
pp. 183-212
Author(s):  
Paul McGhee
Keyword(s):  
Physical Health ◽  
Training Program ◽  
Research Work ◽  
Well Being ◽  
Special Issue ◽  
Sense Of Humor ◽  
Practical Applications ◽  
The Brain

Abstract This article includes comments on each contributing author’s article in this special issue of Humor. The articles represent an assessment of McGhee’s research, work on practical applications or influence in the following areas: 1) the development of children’s humor, 2) construction and validation of the Sense of Humor Scale (SHS), 3) usefulness of specific subscales of the SHS, including “playfulness” and “laughing at yourself,” 4) development and evaluation of the 7 Humor Habits Program—a training program for learning to use humor to cope with stress, 5) humor’s impact on physical health and emotional well being, 6) impact on the field of nursing, and 7) humor and the brain. McGhee provides here his response to each contributed article.

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