C-SLAM
Short Description:	Development of a Cognitive SLAM system
Coordinator:	AndreaBonarini (andrea.bonarini@polimi.it)
Tutor:	AndreaBonarini (andrea.bonarini@polimi.it)
Collaborator:
Students:	DavideTateo (davide.tateo@polimi.it)
Research Area:	Robotics
Research Topic:	Robot development
Start:	2013/04/12
End:	2014/10/31
Status:	Active
Level:	Ms
Type:	Thesis

The Aim of this project is to build a Cognitive SLAM system.

The main idea is to extract high level features, like objects in the image and use them to localize an autonomous robot.

Logical Structure

The reasoner is the fundamental part of the system. The reasoner implements a fuzzy tree classification, similar to fuzzy decision trees.

System Architecture

The system is developed using the ROS middleware. The sensor fusion algorithm used to implement localization is developed using the ROAMFREE library.