Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from ...
详细信息
ISBN:
(纸本)9781467324199
Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features.
In order to measure the effectiveness of safety protection systems there are several design parameters. Diagnostic coverage factor is one of the most important parameter which influences all architectures. In this sho...
详细信息
In order to measure the effectiveness of safety protection systems there are several design parameters. Diagnostic coverage factor is one of the most important parameter which influences all architectures. In this short paper the relationship between PFD avg , DC and T I are presented. 1oo2 and 1oo2D architectures are considered as examples.
The paper is concerned with data transmission via channels composed of a memoryless binary symmetric channel and the erasure channel of Peter Elias. Channels of this type play an important role in modelling different ...
The paper is concerned with data transmission via channels composed of a memoryless binary symmetric channel and the erasure channel of Peter Elias. Channels of this type play an important role in modelling different types of networks especially wireless networks, and have been investigated using, amongst others, the theory of Markov chains. Channel Capacities and network flows have been determined. The authors focus their interest on some aspects of coding theory. They assume the data transmission to be protected by a linear code, a CRC for example, and determine the probability of undetected error of the code. They then consider redundant transmission via two or more channels with bit inversion, and calculate the probability of undetected error. They prove some inequalities that are useful instruments to estimate the rate of transmission errors and to determine safety integrity levels according to the standards. Finally the authors apply their results to Bluetooth channels suffering from different types of noise.
Maximum Distance Separable (MDS) codes are used as diffusion layers in the design of the well known block ciphers like the Advanced Encryption Standard (AES) and Khazad. The reason for the use of MDS codes in the desi...
详细信息
This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not ...
详细信息
This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided ...
详细信息
In general, web search engines respond to queries by returning a list of links to web pages that are considered relevant. However, these queries are often ambiguous or too general and the users end up browsing through...
详细信息
In general, web search engines respond to queries by returning a list of links to web pages that are considered relevant. However, these queries are often ambiguous or too general and the users end up browsing through a long list of items in order to find what they are actually looking for. And hence the idea to cluster web search results so that the output would be a list of labelled clusters. An algorithm based on the ASM (Ants Sleeping Model) is proposed. In the ASM model each data is represented by an agent, its environment being a two dimensional grid. The agents will group themselves into clusters by making simple moves according to some local environment information. At any step an agent can pro-actively decide to directly communicate with one of its fellows and choose to move accordingly, the moves being expressed by fuzzy IF-THEN rules. Thus the chance of getting trapped in a local optimum is minimized and hybridization with a classical clustering algorithm becomes needless.
This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided ...
详细信息
This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.
The complexity of pairwise RNA structure alignment depends on the structural restrictions assumed for both the input structures and the computed consensus structure. For arbitrarily crossing input and consensus struct...
详细信息
This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not ...
详细信息
This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy.
暂无评论