Rossum

Papers and RFC's

Localization and Exploration

Here you will find a short description of the localization and exploration algorithm that I am working on. The software is by no means complete, but here you can see some of the preliminary results that I've got. The implementation was done in Java (like the rest of my robot control software). The software is designed to work with both my robot and the Rossum Playhouse simulator. The software bundled with the simulator is publicly available for demonstration and experimentation purposes. Results obtained with the robot are available from this site. I am working at this web site as part of The Rossum Project (an open-source robotics software project).

With the completed positioning software it will be possible to deploy the robot in an unknown environment, and have it autonomously explore and map the floorplan.

To find out more

To find out more about localization algorithms, my investigations, and the robotic test platform I built to explore the problem, please visit any of the following pages:

• The Positioning Algorithm
• The Test Platform (large images)
• Sample test results from the latest version (v0.5)
• Sample test results from an older version (v0.2)
• Work in progress and future plans

• Positioning Application (version 0.5)
• 'Robot Localization and Map Construction Using Sonar Data' paper.

If you have questions about my work on Localization algorithms, my test robots, or the POS application,
you may reach me at vassilis@users.sourceforge.net.

This page is under construction so some parts may be missing or incomplete.