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Abstract-This paper explores how the absence of an expected sensor reading can be used to improve Markov localization. This negative information usually is not being used in localization, because it yields less information than positive information (i.e. sensing a landmark), and a sensor often fails to detect a landmark, even if it falls within its sensing range. We address these difficulties by carefully modeling the sensor to avoid false negatives. This can also be thought of as adding an additional sensor that detects the absence of an expected landmark. We show how such modeling is done and how it is integrated into Markov localization. In real world experiments, we demonstrate that a robot is able to localize in positions where otherwise it could not and quantify our findings using the entropy of the particle distribution. Exploiting negative information leads to a greatly improved localization performance and reactivity.

This paper evaluates the difference between human pathway curation and current NLP systems. We propose graph analysis methods for quantifying the gap between human curated pathway maps and the output of state-of-the-art automatic NLP systems. Evaluation is performed on the popular mTOR pathway. Based on analyzing where current systems perform well and where they fail, we identify possible avenues for progress.

This paper describes an an open-source software system for the automatic conversion of NLP event representations to system biology structured data interchange formats such as SBML and BioPAX. It is part of a larger effort to make results of the NLP community available for system biology pathway modelers.

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