Pearson, M.J., Fox, C., Sullivan, J.C. et al. (3 more authors) (2013) Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. In: Robotics and Automation (ICRA), 2013 IEEE International Conference on. 2013 IEEE International Conference on Robotics and Automation, May 6-10, 2013, Karlsruhe, Germany. IEEE , pp. 586-592. ISBN 978-1-4673-5643-5
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2013 IEEE. This is an author produced version of a paper subsequently published in Robotics and Automation (ICRA), 2013 IEEE International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Biomimetic; Tactile SLAM; Whiskered robot |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 14:06 |
Last Modified: | 21 Mar 2018 04:36 |
Published Version: | https://doi.org/10.1109/ICRA.2013.6630633 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2013.6630633 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108453 |