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A robot exploring an unknown environment may need to build a world model from sensor measurements. In order to integrate all the frames of sensor data, it is essential to align the data properly. An incremental approach has been typically used in the past, in which each local frame of data is aligned to a cumulative global model, and then merged to the(More)
A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is(More)
Collaborative tagging systems are social data repositories, in which users manage resources using descriptive keywords (tags). An important element of collaborative tagging systems is the tag recommender, which proposes a set of tags to each newly posted resource. In this paper we discuss the potential role of three tag sources: resource content as well as(More)
This paper presents a new sensing modality and stratagem for multirobot exploration. The approach is based on using pairs of robots that observe each other's behavior, acting in concert to reduce odometry errors. We assume the robots can both directly sense nearby obstacles and see each other. This allows the robots to obtain a map of higher accuracy than(More)
We propose an approach for matching distorted and possibly occluded shapes using Dynamic Programming (DP). We distinguish among various cases of matching such as cases where the shapes are scaled with respect to each other and cases where an open shape matches the whole or only a part of another open or closed shape. Our algorithm treats noise and shape(More)
Attending to multiple speakers in a video teleconferencing setting is a complex task. From a visual point of view, multiple speakers can occur at different locations and present radically different appearances. From an audio point of view, multiple speakers may be speaking at the same time, and background noise may make it difficult to localize sound(More)
A k ey diiculty in the design of multi-agent robotic systems is the size and complexity of the space of possible designs. In order to make principled design decisions, an understanding of the many possible system conngurations is essential. To this end, we present a taxonomy that classiies multi-agent systems according to communication, computational and(More)
Citation graphs representing a body of scientific literature convey measures of scholarly activity and productivity. In this work we present a study of the structure of the citation graph of the computer science literature. Using a web robot we built several topic-specific citation graphs and their union graph from the digital library ResearchIndex. After(More)