Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
FastSLAM: a factored solution to the simultaneous localization and mapping problem
Eighteenth national conference on Artificial intelligence
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Cooperative localization and multi-robot exploration
Cooperative localization and multi-robot exploration
Smart Camera Phones: Limits and Applications
IEEE Pervasive Computing
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Embedded systems are considered one of the areas with more potential for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms and provide autonomous control, e.g., for a mobile robot. We tested four navigation problems: Mapping, Localization, Simultaneous Localization and Mapping, and Path Planning. We selected representative algorithms for the navigation problems, developed them in J2ME, and performed tests on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.