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Pearson, M.J.; Fox, C.; Sullivan, J.C.; Prescott, T.J.; Pipe, T.; Mitchinson, B. (2013)
Publisher: IEEE
Languages: English
Types: Part of book or chapter of book
Subjects:
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.\ud

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Funded by projects

  • EC | BIOTACT

Related to

  • fet-fp7FET Proactive: FET proactive: Bio-ICT convergence
  • fet-fp7FET Proactive: BIOmimetic Technology for vibrissal ACtive Touch

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