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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)
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)
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)
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)
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)
Bodies of information available through the Internet, such as digital libraries and distributed file-sharing systems, often form a self-organizing networked information space, i.e. a collection of interconnected information entities generated incrementally over time by a large number of agents. The collection of electronically available research papers in(More)
– We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic(More)