• Publications
  • Influence
Gaussian Processes for Signal Strength-Based Location Estimation
Estimating the location of a mobile device or a robot from wireless signal strength has become an area of highly active research. The key problem in this context stems from the complexity of howExpand
  • 392
  • 41
  • PDF
Junior: The Stanford Entry in the Urban Challenge
This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive andExpand
  • 772
  • 37
  • PDF
Practical Metropolitan-Scale Positioning for GSM Phones
This paper examines the positioning accuracy of a GSM beacon-based location system in a metropolitan environment. We explore five factors effecting positioning accuracy: location algorithm choice,Expand
  • 299
  • 37
  • PDF
Mapping and localization with RFID technology
We analyze whether radio frequency identification (RFID) technology can be used to improve the localization of mobile robots and persons in their environment. In particular we study the problem ofExpand
  • 761
  • 36
  • PDF
An efficient fastSLAM algorithm for generating maps of large-scale cyclic environments from raw laser range measurements
The ability to learn a consistent model of its environment is a prerequisite for autonomous mobile robots. A particularly challenging problem in acquiring environment maps is that of closing loops;Expand
  • 608
  • 34
  • PDF
Experiences with an Interactive Museum Tour-Guide Robot
This article describes the software architecture of an autonomous, interactive tour-guide robot. It presents a modular and distributed software architecture, which integrates localization, mapping,Expand
  • 881
  • 30
  • PDF
MINERVA: a second-generation museum tour-guide robot
This paper describes an interactive tour-guide robot, which was successfully exhibited in a Smithsonian museum. During its two weeks of operation, the robot interacted with thousands of people,Expand
  • 685
  • 24
  • PDF
The Mobile Sensing Platform: An Embedded Activity Recognition System
Activity-aware systems have inspired novel user interfaces and new applications in smart environments, surveillance, emergency response, and military missions. Systems that recognize human activitiesExpand
  • 602
  • 19
  • PDF
The Interactive Museum Tour-Guide Robot
This paper describes the software architecture of an autonomous tour-guideltutor robot. This robot was recently deployed in the "Deutsches Museum Bonn," were it guided hundreds of visitors throughExpand
  • 574
  • 19
  • PDF
Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva
This paper describes Minerva, an interactive tour-guide robot that was successfully deployed in a Smithsonian museum. Minerva’s software is pervasively probabilistic, relying on explicitExpand
  • 569
  • 16
  • PDF