A trustable and accurate ground truth is a key requirement for benchmarking self-localization and mapping algorithms; on the other hand, collection of ground truth is a complex and daunting task, and its validation is a challenging issue. In this paper we propose two techniques for indoor ground truth collection, developed in the framework of the European project RAW S E E D S, which are mutually independent and also independent on the sensors onboard the robot. These techniques are based, respectively, on a network of fixed cameras, and on a network of fixed laser scanners. We show how these systems are implemented and deployed, and, most importantly, we evaluate their performance; moreover, we investigate the possible fusion of their outputs
cientific experiments and robotic competitions share some common traits that can put the debate about developing better experimental methodologies and replicability of results in robotics research on more solid ground. In this context, the Robot Competitions Kick Innovation in Cognitive Systems and Robotics (RoCKIn) project aims to develop competitions that come close to scientific experiments, providing an objective performance evaluation of robot systems under controlled and replicable conditions. In this article, by further articulating replicability into reproducibility and repeatability and by considering some results from the 2014 first RoCKIn competition, we show that the RoCKIn approach offers tools that enable the replicability of experimental results.
Robotic Competitions and ChallengesWithin the debate about the development of rigorous experimental methodologies in robotics research, the robotic competitions have emerged as a way to promote comparison of different algorithms
Competitions for Benchmarking
Task and Functionality Scoring CompletePerformance Assessment
The purpose of this chapter is twofold: on one hand, it aims at defining a clear framework for the design and implementation of autonomous wheelchairs, highlighting the main challenges; on the other hand, it presents a complete and working system of such type, called LURCH. This incorporates technology from autonomous robotics, and interacts with its user through a multi-modal user interface, including joystick, touch screen, electromyographic control, or brain-computer interface. If required, other input methods and controllers can be seamlessly integrated. The result is an autonomous wheelchair capable of supporting user mobility while adapting its level of autonomy both to the abilities and to the requirements of the user. Moreover, the capabilities of such a system (in terms of perception, data processing, user interface, communication) open the way to novel modes of interaction between environment and wheelchair users, really making the latter differently able, i.e., endowing them with abilities that walking people cannot access without special equipment.
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