Name
Title | ||
|---|---|---|
Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot |
Abstract | ||
|---|---|---|
A biomimetic mobile robot called “Shrewbot” has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Localisation And Mapping (tSLAM). Shrewbot uses a biomorphic 3-dimensional array of active whiskers and a model of action selection based on tactile sensory attention to explore a circular walled arena sparsely populated with simple geometric shapes. Datasets taken during this exploration have been used to parameterise an approach to localisation and mapping based on probabilistic occupancy grids. We present the results of this work and conclude that simultaneous localisation and mapping is possible given only noisy odometry and tactile information from a 3-dimensional array of active biomimetic whiskers and no prior information of features in the environment. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6630633 | Robotics and Automation |
Keywords | Field | DocType |
SLAM (robots),biomimetics,mobile robots,probability,sensor arrays,tactile sensors,Shrewbot,active biomimetic whiskers,active whiskers,biomimetic mobile robot,biomorphic 3D array,circular walled arena,geometric shapes,mammalian facial whisker sensory system,multidegree of freedom biomimetic whiskered robot,neuroethological study,noisy odometry,probabilistic occupancy grids,tSLAM,tactile information,tactile sensory attention,whisker based tactile simultaneous localisation and mapping,Biomimetic,Tactile SLAM,Whiskered robot | Computer vision,Biomimetics,Odometry,Artificial intelligence,Geometric shape,Probabilistic logic,Engineering,Robot,Action selection,Mobile robot,Tactile sensor | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-4673-5641-1 | 7 | 0.92 |
References | Authors | |
12 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Martin J. Pearson | 1 | 215 | 26.34 |
| Charles W. Fox | 2 | 162 | 14.65 |
| J. Charles Sullivan | 3 | 7 | 1.26 |
| Prescott, T.J. | 4 | 90 | 9.14 |
| Tony Pipe | 5 | 171 | 24.02 |
| Ben Mitchinson | 6 | 145 | 17.74 |