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Full-Text Articles in Robotics
Automatic Site Reconstruction With A Mobile Robot And Scanning Laser Proximity Sensor, Erik Nelson, Sean Willis, Nathan Lucero
Automatic Site Reconstruction With A Mobile Robot And Scanning Laser Proximity Sensor, Erik Nelson, Sean Willis, Nathan Lucero
Computer Engineering
Leading research in robotics, especially in the areas of computer vision, planning, and probabilistic learning, require a mobile robot platform to program. The design and construction of such a platform is a laborious task, calling upon knowledge from many branches of engineering. Additionally, hot research topics in robotics such as vision-based Simultaneous Localization and Mapping (SLAM), advanced trajectory planning algorithms, and adaptive control for collision avoidance contain algorithms that build upon a localization and mapping architecture which is time-consuming to program in itself. To bring future senior project teams from Cal Poly's computer engineering and computer science departments closer to …
An Analysis Of Simultaneous Localization And Mapping (Slam) Algorithms, Megan R. Naminski
An Analysis Of Simultaneous Localization And Mapping (Slam) Algorithms, Megan R. Naminski
Mathematics, Statistics, and Computer Science Honors Projects
This paper provides an introduction to two Simultaneous Localization and Mapping (SLAM) algorithms: EKF SLAM and Fast-SLAM. SLAM allows an autonomous robot to accurately map an unknown environment as well as locate itself within the environment. These algorithms work iteratively, by moving about the environment and extracting and observing various landmarks in the environment. EKF SLAM and Fast-SLAM solve the SLAM problem by using probabilities to control for errors in the robot's sensors. This paper provides a discussion of these two algorithms and compares their run times and the accuracy of the maps they produce.