NDLI: Challenges for Autonomous Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Leonard, J.J.
Copyright Year	2007
Description	Author affiliation: Massachusetts Inst. of Technol., Cambridge (Leonard, J.J.)
Abstract	Summary form only given. This talk will have two parts. In part one, we will review recent progress in mobile robotics, focusing on the problems of simultaneous mapping and localization (SLAM) and cooperative navigation of mobile sensor networks. The problem of SLAM is stated as follows: starting from an initial position, a mobile robot travels through a sequence of positions and obtains a set of sensor measurements at each position. The goal is for the mobile robot to process the sensor data to compute an estimate of its position while concurrently building a map of the environment. We will present SLAM results for several scenarios including land robot mapping of large-scale environments and undersea mapping using optical imaging sensors. We will also describe work on cooperative navigation for networks of autonomous underwater vehicles (AUVs) and autonomous sea-surface vehicles (ASVs). In the second part of the talk, we will provide an overview of MIT's entry in the 2007 DARPA Urban Challenge. The goal of this effort is to produce a car that can drive autonomously in traffic. Our team has developed a novel strategy for using a large number of inexpensive sensors mounted on the vehicle periphery. Lidar, camera, and radar data streams are processed using an innovative, locally smooth state representation that provides robust perception for real-time autonomous control. A resilient planning and control architecture has been developed for driving in traffic, comprised of an innovative combination of well-proven algorithms for mission planning, situational planning, situational interpretation, and trajectory control. These innovations are being incorporated in two new robotic vehicles equipped for autonomous driving in urban environments, with extensive testing on a DARPA site visit course.
Starting Page	4
Ending Page	4
File Size	126230
Page Count	1
File Format	PDF
ISBN	9780769528878
DOI	10.1109/IMVIP.2007.46
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-05
Publisher Place	Ireland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Concurrent computing Simultaneous localization and mapping Navigation Position measurement Robot sensing systems Optical imaging Large-scale systems Mobile robots Underwater vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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