RatSLAM

• Automatically exported from code.google.com/p/ratslam

Modifications

• cv_bridge and dependancy fixes.
• Implemented /ExperienceMap/GetDistance service which takes two IDs and returns temporal distance.
• Publishing sub_goal distance and direction on /ExperienceMap/SubGoal
• Reversed goal order, LILO instead of FIFO.
• Limit ExperienceMap size.

Original readme from master branch.

RatSLAM lite C/C++/MATLAB versions written and copyright 2011 by Dr David Ball ([email protected]) and Mr Scott Heath ([email protected]) This program is free software distributed under the terms of the GNU GPL. See license.txt for full details.

About

Citing the work D. Ball, S. Heath, M. Milford, G. Wyeth, and J. Wiles, "A Navigating Rat Animat," in Artificial Life, 2010

Using All parameters should be settable in the config.txt file.

This program has been tested on Windows 7 and Ubuntu.

The program depends on other work including Boost, OpenCV, irrlicht, ffmpeg, and our custom gri library.

RatSLAM The RatSLAM algorithm is by Dr Michael Milford and Prof Gordon Wyeth ([michael.milford, gordon.wyeth]@qut.edu.au)

There are two relevant papers to cite depending on your application: For outdoor vision only SLAM: Milford, M.J., Wyeth, G.F. (2008) Mapping a Suburb With a Single Camera Using a Biologically Inspired SLAM System, IEEE Transactions on Robotics.

For robot SLAM: Milford, M.J., Wyeth, G.F. (2010) Persistent Navigation and Mapping using a Biologically Inspired SLAM System, the International Journal of Robotics Research