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Giovanni Beltrame

Bio: Giovanni Beltrame is an academic researcher from École Polytechnique de Montréal. The author has contributed to research in topics: Robot & Swarm behaviour. The author has an hindex of 19, co-authored 147 publications receiving 1354 citations. Previous affiliations of Giovanni Beltrame include École Normale Supérieure & European Space Research and Technology Centre.


Papers
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Journal ArticleDOI
20 Jan 2020
TL;DR: DOOR-SLAM as discussed by the authors is a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters and does not require full connectivity among the robots.
Abstract: To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the robots without relying on an external positioning system (e.g. GPS) and with minimal information exchange. Unfortunately, current distributed SLAM systems are vulnerable to perception outliers and therefore tend to use very conservative parameters for inter-robot place recognition. However, being too conservative comes at the cost of rejecting many valid loop closure candidates, which results in less accurate trajectory estimates. This letter introduces DOOR-SLAM , a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters. DOOR-SLAM is based on peer-to-peer communication and does not require full connectivity among the robots. DOOR-SLAM includes two key modules: a pose graph optimizer combined with a distributed pairwise consistent measurement set maximization algorithm to reject spurious inter-robot loop closures; and a distributed SLAM front-end that detects inter-robot loop closures without exchanging raw sensor data. The system has been evaluated in simulations, benchmarking datasets, and field experiments, including tests in GPS-denied subterranean environments. DOOR-SLAM produces more inter-robot loop closures, successfully rejects outliers, and results in accurate trajectory estimates, while requiring low communication bandwidth. Full source code is available at https://github.com/MISTLab/DOOR-SLAM.git .

106 citations

Journal ArticleDOI
01 Jul 2006
TL;DR: The combined use of the MultiFlex multiprocessor mapping tools, supported by high-speed hardware-assisted messaging, context-switching, and dynamic scheduling using the StepNP demonstrator multiprocessionor system-on-chip platform, is demonstrated for two representative applications.
Abstract: The MultiFlex system is an application-to-platform mapping tool that integrates heterogeneous parallel components-H/W or S/W- into a homogeneous platform programming environment. This leads to higher quality designs through encapsulation and abstraction. Two high-level parallel programming models are supported by the following MultiFlex platform mapping tools: a distributed system object component (DSOC) object-oriented message passing model and a symmetrical multiprocessing (SMP) model using shared memory. We demonstrate the combined use of the MultiFlex multiprocessor mapping tools, supported by high-speed hardware-assisted messaging, context-switching, and dynamic scheduling using the StepNP demonstrator multiprocessor system-on-chip platform, for two representative applications: 1) an Internet traffic management application running at 2.5 Gb/s and 2) an MPEG4 video encoder (VGA resolution, at 30 frames/s). For these applications, a combination of the DSOC and SMP programming models were used in interoperable fashion. After optimization and mapping, processor utilization rates of 85%-91% were demonstrated for the traffic manager. For the MPEG4 decoder, the average processor utilization was 88%

90 citations

Proceedings ArticleDOI
01 Oct 2016
TL;DR: Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the perspective of the single robot and of the overall swarm, and its run-time platform is designed to be laid on top of other frameworks, such as the Robot Operating System.
Abstract: We present Buzz, a novel programming language for heterogeneous robot swarms. Buzz advocates a compositional approach, offering primitives to define swarm behaviors both from the perspective of the single robot and of the overall swarm. Single-robot primitives include robot-specific instructions and manipulation of neighborhood data. Swarm-based primitives allow for the dynamic management of robot teams, and for sharing information globally across the swarm. Self-organization stems from the completely decentralized mechanisms upon which the Buzz run-time platform is based. The language can be extended to add new primitives (thus supporting heterogeneous robot swarms), and its run-time platform is designed to be laid on top of other frameworks, such as the Robot Operating System. We showcase the capabilities of Buzz by providing code examples, and analyze scalability and robustness of the run-time platform through realistic simulated experiments with representative swarm algorithms.

90 citations

Journal ArticleDOI
23 Jan 2019
TL;DR: Experimental results on standard benchmarking datasets show that the proposed technique compares favorably with state-of-the-art methods while not relying on an initial guess for optimization.
Abstract: Perceptual aliasing is one of the main causes of the failure for simultaneous localization and mapping (SLAM) systems operating in the wild. Perceptual aliasing is a phenomenon where different places generate a similar visual (or, in general, perceptual) footprint. This causes spurious measurements to be fed to the SLAM estimator, which typically results in incorrect localization and mapping results. This problem is exacerbated by the fact that those outliers are highly correlated , in the sense that perceptual aliasing creates a large number of mutually consistent outliers. Another issue stems from the fact that most state-of-the-art techniques rely on a given trajectory guess (e.g., from odometry) to discern between inliers and outliers, and this makes the resulting pipeline brittle, since the accumulation of error may result in incorrect choices and recovery from failures is far from trivial. This paper provides a unified framework to model perceptual aliasing in SLAM and provides practical algorithms that can cope with outliers without relying on any initial guess. We present two main contributions. The first is a discrete–continuous graphical model ( DC-GM ) for SLAM: The continuous portion of the DC-GM captures the standard SLAM problem, while the discrete portion describes the selection of the outliers and models their correlation. The second contribution is a semidefinite relaxation to perform inference in the DC-GM that returns estimates with provable sub-optimality guarantees. Experimental results on standard benchmarking datasets show that the proposed technique compares favorably with state-of-the-art methods while not relying on an initial guess for optimization.

85 citations

Journal ArticleDOI
TL;DR: DOOR-SLAM is a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters, which produces more inter-robot loop closures, successfully rejects outliers, and results in accurate trajectory estimates, while requiring low communication bandwidth.
Abstract: To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the robots without relying on an external positioning system (e.g. GPS) and with minimal information exchange. Unfortunately, current distributed SLAM systems are vulnerable to perception outliers and therefore tend to use very conservative parameters for inter-robot place recognition. However, being too conservative comes at the cost of rejecting many valid loop closure candidates, which results in less accurate trajectory estimates. This paper introduces DOOR-SLAM, a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters. DOOR-SLAM is based on peer-to-peer communication and does not require full connectivity among the robots. DOOR-SLAM includes two key modules: a pose graph optimizer combined with a distributed pairwise consistent measurement set maximization algorithm to reject spurious inter-robot loop closures; and a distributed SLAM front-end that detects inter-robot loop closures without exchanging raw sensor data. The system has been evaluated in simulations, benchmarking datasets, and field experiments, including tests in GPS-denied subterranean environments. DOOR-SLAM produces more inter-robot loop closures, successfully rejects outliers, and results in accurate trajectory estimates, while requiring low communication bandwidth. Full source code is available at this https URL.

63 citations


Cited by
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Journal Article
TL;DR: This book by a teacher of statistics (as well as a consultant for "experimenters") is a comprehensive study of the philosophical background for the statistical design of experiment.
Abstract: THE DESIGN AND ANALYSIS OF EXPERIMENTS. By Oscar Kempthorne. New York, John Wiley and Sons, Inc., 1952. 631 pp. $8.50. This book by a teacher of statistics (as well as a consultant for \"experimenters\") is a comprehensive study of the philosophical background for the statistical design of experiment. It is necessary to have some facility with algebraic notation and manipulation to be able to use the volume intelligently. The problems are presented from the theoretical point of view, without such practical examples as would be helpful for those not acquainted with mathematics. The mathematical justification for the techniques is given. As a somewhat advanced treatment of the design and analysis of experiments, this volume will be interesting and helpful for many who approach statistics theoretically as well as practically. With emphasis on the \"why,\" and with description given broadly, the author relates the subject matter to the general theory of statistics and to the general problem of experimental inference. MARGARET J. ROBERTSON

13,333 citations

Posted Content
TL;DR: This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.
Abstract: This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

2,198 citations

01 Apr 1997
TL;DR: The objective of this paper is to give a comprehensive introduction to applied cryptography with an engineer or computer scientist in mind on the knowledge needed to create practical systems which supports integrity, confidentiality, or authenticity.
Abstract: The objective of this paper is to give a comprehensive introduction to applied cryptography with an engineer or computer scientist in mind. The emphasis is on the knowledge needed to create practical systems which supports integrity, confidentiality, or authenticity. Topics covered includes an introduction to the concepts in cryptography, attacks against cryptographic systems, key use and handling, random bit generation, encryption modes, and message authentication codes. Recommendations on algorithms and further reading is given in the end of the paper. This paper should make the reader able to build, understand and evaluate system descriptions and designs based on the cryptographic components described in the paper.

2,188 citations

Book
02 Jan 1991

1,377 citations

22 Oct 2007
TL;DR: The fifth edition of "Numerical Methods for Engineers" continues its tradition of excellence and expanded breadth of engineering disciplines covered is especially evident in the problems, which now cover such areas as biotechnology and biomedical engineering.
Abstract: The fifth edition of "Numerical Methods for Engineers" continues its tradition of excellence. Instructors love this text because it is a comprehensive text that is easy to teach from. Students love it because it is written for them--with great pedagogy and clear explanations and examples throughout. The text features a broad array of applications, including all engineering disciplines. The revision retains the successful pedagogy of the prior editions. Chapra and Canale's unique approach opens each part of the text with sections called Motivation, Mathematical Background, and Orientation, preparing the student for what is to come in a motivating and engaging manner. Each part closes with an Epilogue containing sections called Trade-Offs, Important Relationships and Formulas, and Advanced Methods and Additional References. Much more than a summary, the Epilogue deepens understanding of what has been learned and provides a peek into more advanced methods. Approximately 80% of the end-of-chapter problems are revised or new to this edition. The expanded breadth of engineering disciplines covered is especially evident in the problems, which now cover such areas as biotechnology and biomedical engineering. Users will find use of software packages, specifically MATLAB and Excel with VBA. This includes material on developing MATLAB m-files and VBA macros.

578 citations