NavGroup: Navigation Reading Group

The "Navigation Group Meeting" is a weekly meeting held on Mondays at 2:00pm in NSH 1109. It is a group led by Sanjiv Singh, with interests in navigation for autonomous vehicles, including topics such as path planning, collision avoidance, computer vision for robotics, and SLAM.

The mailing list for this group is frc-navigation -|at|- cs.cmu.edu

Current Members

Lyle Chamberlain, Howie Choset, Debadeepta Dey, Michael Dille, Joe Djugash, Felix Duvallet, Nathaniel Fairfield, Christopher Geyer, Ben Grocholsky, Brad Hamner, Fred Heger, Robin Glinton, Geoff Hollinger, George Kantor, Seth Koterba, Yucheng Low, Hyungpil Moon, Caleb Overman, Sean R Owens, Paul Rybski, Mike Sabatini, Paul Scerri, Sebastian Scherer, Wenfan Shi, Sanjiv Singh, Boris Sofman, Katia Sycara, Chris Urmson, Prasanna Velagapudi.

Past Members

Henele Adams, Elizabeth Liao, Stavros Petridis, Raymond Sheh, Stephan Roth, Takeshi Takahashi, Karl Zettl.

Latest Paper Entry

03/09/09 -- Coordination for Multi-Robot Localization
Authors: {See Below} Presenter: Joseph Djugash Details: I'll be continuing from last week's meeting on the topic of multi-robot estimation. More specifically, I'll be looking at multi-robot localization in environments without stationary landmarks or features. Due to the lack of sufficient research in this area, I'll look at some of the ideas presented in the following two papers, mainly using them as guides to have a general discussion of the problem and possible future directions. 1) "Multi-robot localization using relative observations": Agostino Martinelli, Frederic Pont and Roland Siegwart [Paper 1] (This paper extends the approach presented in detail here: [Paper 1 Extra]) 2) "Multi-robot exploration of an unknown environment, efficiently reducing the odometry error": Ioannis M. Rekleitis, Gregory Dudek and Evangelos Milios [Paper 2] The first paper gives a brief summary of the different measurement types that can be used to localize multiple mobile robots. For a more in depth description see the second link under the first paper. The second paper discusses a method for multi-robot exploration that considers the case of coordinating the robots to maintain good localization of each agent. In addition, this paper has an "interesting" map model that might appeal to those working on the environment "clearing" problem :D

03/09/09 -- Coordination for Multi-Robot Localization

Authors: {See Below}
Presenter: Joseph Djugash
Details: I'll be continuing from last week's meeting on the topic of multi-robot estimation. More specifically, I'll be looking at multi-robot localization in environments without stationary landmarks or features.

Due to the lack of sufficient research in this area, I'll look at some of the ideas presented in the following two papers, mainly using them as guides to have a general discussion of the problem and possible future directions.

1) "Multi-robot localization using relative observations": Agostino Martinelli, Frederic Pont and Roland Siegwart [Paper 1] (This paper extends the approach presented in detail here: [Paper 1 Extra])

2) "Multi-robot exploration of an unknown environment, efficiently reducing the odometry error": Ioannis M. Rekleitis, Gregory Dudek and Evangelos Milios [Paper 2]

The first paper gives a brief summary of the different measurement types that can be used to localize multiple mobile robots. For a more in depth description see the second link under the first paper.

The second paper discusses a method for multi-robot exploration that considers the case of coordinating the robots to maintain good localization of each agent. In addition, this paper has an "interesting" map model that might appeal to those working on the environment "clearing" problem :D

Upcoming Presenter Schedule

03/16/09 Seth Koterba
03/23/09 Fred Heger
03/30/09 Geoff Hollinger
04/06/09 Steve Nuske
04/13/09 Prasanna Velagapudi
04/20/09 Kevin Peterson
04/27/09 Jackie Libby
05/04/09 Sanjiv Singh
...