Simulated annealing & boltzmann Machines: a stochastic approach to combinatorialoptimization & neural computing
Analogy-making as perception: a computer model
Analogy-making as perception: a computer model
Evidential Reasoning for Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Biomimetic whiskers for shape recognition
Robotics and Autonomous Systems
Simultaneous Localization, Mapping and Moving Object Tracking
International Journal of Robotics Research
Probabilistic models with unknown objects
Probabilistic models with unknown objects
HERB: a home exploring robotic butler
Autonomous Robots
GATMO: a generalized approach to tracking movable objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
SCRATCHbot: active tactile sensing in a whiskered mobile robot
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Whisker-based texture discrimination on a mobile robot
ECAL'05 Proceedings of the 8th European conference on Advances in Artificial Life
CrunchBot: a mobile whiskered robot platform
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Towards hierarchical blackboard mapping on a whiskered robot
Robotics and Autonomous Systems
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The paradigm case for robotic mapping assumes large quantities of sensory information which allow the use of relatively weak priors. In contrast, the present study considers the mapping problem in environments where only sparse, local sensory information is available. To compensate for these weak likelihoods, we make use of strong hierarchical object priors. Hierarchical models were popular in classical blackboard systems but are here applied in a Bayesian setting and novelly deployed as a mapping algorithm. We give proof of concept results, intended to demonstrate the algorithm's applicability as a part of a tactile SLAM module for the whiskered SCRATCHbot mobile robot platform.