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Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot

Pearson, Martin J.; Fox, Charles; Sullivan, J. Charles; Pearson, Martin; Fox, Charles W; Sullivan, John C.; Prescott, Tony J.; Pipe, Tony; Mitchinson, Ben

Authors

Martin J. Pearson

Charles Fox

J. Charles Sullivan

Charles W Fox

John C. Sullivan

Tony J. Prescott

Ben Mitchinson



Contributors

Lynne E. Parker
Editor

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. © 2013 IEEE.

Citation

Sullivan, J. C., Fox, C., Pearson, M. J., Pearson, M., Fox, C. W., Sullivan, J. C., …Mitchinson, B. (2013). Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot. IEEE International Conference on Robotics and Automation, 586-592. https://doi.org/10.1109/ICRA.2013.6630633

Journal Article Type Conference Paper
Publication Date Nov 14, 2013
Journal Proceedings - IEEE International Conference on Robotics and Automation
Print ISSN 1050-4729
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Pages 586-592
Book Title IEEE International Conference on Robotics and Automation
ISBN 9781467356411
DOI https://doi.org/10.1109/ICRA.2013.6630633
Keywords simultaneous, mapping, multidegree, biomimetic, whiskered, robot
Public URL https://uwe-repository.worktribe.com/output/932057
Publisher URL http://dx.doi.org/10.1109/ICRA.2013.6630633
Related Public URLs http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6630633&queryText%3DSimultaneous+localisation+and+mapping+on+a+multi-degree+of+freedom+biomimetic+whiskered+robot
Additional Information Additional Information : Copyright 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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