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Data are individual items of information obtained from a population or sample. Data may be classified as qualitative (categorical), quantitative continuous, or quantitative discrete. Because it is not practical to measure the entire population in a study, researchers use samples to represent the population. A random sample is a representative group from the population chosen by using a method that gives each individual in the population an equal chance of being included in the sample. Random...
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The slump test is a widely used method to measure the workability of concrete. It employs a 12-inch high truncated cone mold that tapers from eight inches at the base to four inches at the top. Before testing, the mold is securely attached to a flat base and dampened.
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In brick wall construction, supporting structures are crucial for openings like windows and doors to maintain the integrity and support the weight of the wall above. These supports include lintels, corbels, and arches, each serving specific structural purposes.
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A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
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Active SLAM: A Review on Last Decade.

Muhammad Farhan Ahmed1, Khayyam Masood2, Vincent Fremont1

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This summary is machine-generated.

This review surveys Active Simultaneous Localization and Mapping (A-SLAM) over the last decade, covering its formulation, applications, and methods. It also introduces Active Collaborative SLAM (AC-SLAM) analysis, identifying research gaps and future directions.

Keywords:
SLAMactive SLAMcontrol theoryinformation theorypath planning

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Vision

Background:

  • Simultaneous Localization and Mapping (SLAM) is fundamental for autonomous systems.
  • Active SLAM (A-SLAM) enhances efficiency by optimizing robot movement and sensor actions.
  • Existing research has explored various A-SLAM formulations and applications.

Purpose of the Study:

  • To provide a comprehensive review of A-SLAM research from the past decade.
  • To introduce a novel analysis of Active Collaborative SLAM (AC-SLAM).
  • To identify limitations and suggest future research directions in A-SLAM.

Main Methods:

  • Review of A-SLAM literature, focusing on trajectory generation and control-action selection.
  • Application of Information Theory (IT) and Theory of Optimal Experimental Design (TOED).
  • Qualitative and quantitative analysis of A-SLAM approaches, scenarios, and utility functions.
  • Examination of collaborative parameters and approaches in AC-SLAM.

Main Results:

  • A detailed overview of A-SLAM methodologies, including path planning and utility functions.
  • A novel analysis of AC-SLAM, assessing collaborative aspects.
  • Identification of research gaps and limitations in current A-SLAM literature.

Conclusions:

  • A-SLAM research has advanced significantly, with diverse methodologies and applications.
  • AC-SLAM presents a promising area for future research in collaborative robotics.
  • This survey serves as a valuable resource for researchers in the field of A-SLAM.