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A truly autonomous mobile robot have to solve the SLAM problem (i.e. simultaneous map building and pose estimation) in order to navigate in an unknown environment. Unfortunately, a universal solution for the problem hasn't been proposed yet. The tinySLAM algorithm that has a compact and clear code was designed to solve SLAM in an indoor environment using a noisy laser scanner. This paper introduces...
Software engineering is an interactive, collaborative and creative activity that cannot be entirely planned. Inspection and adaption are required to cope with changes during the development process. Software engineering education requires practical application of knowledge, but it is challenging and time consuming for instructors to evaluate the creation of innovative solutions to problems. Current...
TinySLAM [1] is one of the most simple SLAM methods but the original implementation [2] is based on the specific robot model and provided as the ad-hoc application. Its key feature is simplicity of implementation and configuration at cost of accuracy (as our tests shown). Some changes were made in the original algorithm in order to minimize an error of estimated trajectories. The introduced model...
Owing to the self organizing, self configuring and self healing capabilities, Wireless Mesh Networks (WMN) have emerged as most powerful architectures in recent times. WMN operate with limited battery resources. To save energy, ieee 802.11s has introduced a mechanism called power save mode(PSM) which switches STA mode from active to light sleep or deep sleep mode when STA is not involved in transmission...
Abstract predicates are considered in this paper as abstraction technique for heap-separated configurations, and as genuine Prolog predicates which are translated straight into a corresponding formal language grammar used as validation scheme for intermediate heap states. The approach presented is rule-based because the abstract predicates are rule-based, the parsing technique can be interpreted as...
SLAM (simultaneous localization and mapping) problem appears in robot algorithms when it is necessary to orient in an unknown environment without GPS or some other world communication system. Data for considered SLAM method is received from laser rangefinders and odometry sensors. Scan matching is a localization step of the SLAM problem and the main idea is to find an offset between two laser scans...
This article describes design and development of MariaDb Maxscale robust and easy extendable test automation tool — MariaDB Continuous Integration (MDBCI). For determining optimal architecture a comparison of analogs and a detailed review of existing solution is given. Developed instrument is described and discussed in details in order to determine its extendability level. For proving robustness the...
Minimization of delay in data collection at base station is one of the major concerns in cluster based Wireless Mesh Network. There exists few other techniques for the cluster head selection in wireless mesh network such as selecting a node with maximum energy as a cluster head. In this work, We consider dynamic nodes with single hop topology with in the static cluster. To minimize the delay that...
Simultaneous Localization and Mapping (SLAM) is a challenging task in robotics. Researchers work hard on it, so several novel SLAM algorithms as well as enhancements for the known ones are published every year. We have selected recent (2013–mid. 2015) approaches that in theory can be run on mobile robot and evaluated it. This paper gives brief intuitive description of ORB-SLAM, LSD-SLAM, L-SLAM and...
Nowadays simultaneous localization and mapping (SLAM) algorithms are being tested at least in two phases: software simulation and real hardware platform testing. This paper describes hardware design and control software for small size omni-directional wheels robot implemented for indoor testing SLAM algorithms.
Nowadays the big challenge in simultaneous localization and mapping (SLAM) of mobile robots is the creation of efficient and robust algorithms. Significant Number of SLAM algorithms rely on unique features or or use artificial landmarks received from camera images. Feature points and landmarks extraction from images have two significant drawbacks: CPU consumption and weak robustness depending on environment...
Nowadays the big challenge in simultaneous localization and mapping (SLAM) of mobile robots is the creation of efficient and robust algorithms. Big amount of SLAM methods use computer vision for extraction of unique environment features from camera images (feature-based approach). In some cases, artificial landmarks are being used to simplify environment markup (landmark-based approach). In this paper...
An Energy efficient routing protocol is one of the major concerns of Wireless Mesh Networks(WMN). Nodes of WMN works based on the limited battery power routing protocol has to be designed such that it utilize minimum battery power and route the data efficiently and thus maximize the overall life time of the network. Many existing works shows the efficient usage of battery during the selection of Cluster...
Wireless mesh network is a flexible, low cost and multi-purpose networking platform with wired infrastructure connected to the internet. In WMN nodes often have a limited battery supply to use for the sending and reception of transmissions. Routing protocols over WMN are an important issue and many proposals have been addressed to efficiently manage topology information, to offer network scalability...
In recent times Wireless Mesh Networks (WMN) have evolved as powerful networks for most commercial applications. Many contributions have been made to enhance the performance of WMN of which the enhancement of the network lifetime remains as one of the challenging area for research. IEEE standard proposed an amendment which introduced Power Save Mode (PSM) in order to increase the lifetime of WMN....
Access control mechanisms play a key role in many areas of computer science, however, for the information provided on the basis of semantic web and established solutions don't exist. This work focuses on the research in this area, in particular to ensure the information security in distributed service environments (smart spaces), which are the most promising application of standards and technologies...
Today volume of the Internet traffic growths very fast. This trend affects Web-application, with the number of users and amount of traffic also increasing their workload. That's why developers need to achieve maximum performance on existing hardware. Software optimization allows solving this problem. Geo2Tag is an open source platform for location-based services (LBS), which provide web interfaces...
Mobile healthcare is a rapidly developing area. The significance of solutions in this area cannot be underrated because they directly influence the health of people that is undoubtedly the most important thing in their life. This article presents the idea of one of the solutions in this area: doctor search service. The main idea of the service is that the patient can send SOS message from his mobile...
Smart-M3 is an open source platform for development and deployment of smart spaces application. The Smart Spaces is nowadays one of the most rapidly developing technologies with huge potential for the service market. It can be characterized by three main ideas: smart application should be pro-active, seamlessly collect and store all available information about the user to guaranty easy access to all...
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