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Latin American Workshop on Computational Neuroscience

LAWCN 2019: Computational Neuroscience pp 173–183Cite as

A Parallel RatSlam C++ Library Implementation

Part of the Communications in Computer and Information Science book series (CCIS,volume 1068)

Abstract

RatSlam is a bio-inspired Simultaneous Location and Mapping (SLAM) algorithm used for autonomous mobile robots navigation tasks. This work presents a RatSlam algorithm implementation as a C++ library designed to take advantage of internal RatSlam modules parallelization. The RatSlam algorithm is presented with principal aspects of the library architecture design. Furthermore, its results using a well known RatSlam data set with a standard RatSlam implementation (OpenRatSLAM - Robot Operating System), and a Python implementation. The mapping found with the previous approaches and the proposed on this work were similar. Moreover, the execution times between the OpenRatSLAM and this C++ library was compared, with the proposed implementation having a lower execution time. Thus, the current implementation was validated and has some advantages against previous ones, which can be very relevant for real-time applications.

Keywords

  • RatSlam implementation
  • SLAM algorithm
  • C++ RatSlam library

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Notes

  1. 1.

    https://wiki.qut.edu.au/display/cyphy/RatSLAM+MATLAB.

  2. 2.

    https://github.com/mjs513/rsnxt08/tree/wiki.

  3. 3.

    https://github.com/renatopp/ratslam-python.

  4. 4.

    https://github.com/coxlab/ratslam-python.

References

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Acknowledgment

Our research group acknowledges financial support from FAPEMA (Proc. UNIVERSAL - 01294/16), CAPES/BRAZIL (Finance Code 001) and CNPq/BRAZIL. Sen Cheng was supported by the German Research Foundation (DFG) through SFB 1280, project B14.

Author information

Authors and Affiliations

  1. Federal University of Maranhão, Av. dos Portugueses, 1966 Bacanga, São Luís, Maranhão, Brazil

    Mauro Enrique de Souza Muñoz, Matheus Chaves Menezes, Areolino de Almeida Neto, Alexandre César Muniz de Oliveira & Paulo Rogério de Almeida Ribeiro

  2. Graduate Program on Computer Science, Federal University of Rio Grande do Sul, Porto Alegre, Brazil

    Edison Pignaton de Freitas

  3. Computational Neuroscience, Institute for Neural Computation, Ruhr University Bochum, Bochum, Germany

    Sen Cheng

Authors
  1. Mauro Enrique de Souza Muñoz
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  2. Matheus Chaves Menezes
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  3. Edison Pignaton de Freitas
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  4. Sen Cheng
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  5. Areolino de Almeida Neto
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  6. Alexandre César Muniz de Oliveira
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  7. Paulo Rogério de Almeida Ribeiro
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Corresponding author

Correspondence to Paulo Rogério de Almeida Ribeiro .

Editor information

Editors and Affiliations

  1. Federal University of São João Del-Rei, São João Del-Rei, Brazil

    Vinícius Rosa Cota

  2. Federal University of Rio Grande do Sul, Porto Alegre, Brazil

    Dante Augusto Couto Barone

  3. Federal University of São João Del-Rei, São João Del-Rei, Brazil

    Diego Roberto Colombo Dias

  4. Federal University of São João Del-Rei, São João Del-Rei, Brazil

    Laila Cristina Moreira Damázio

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de Souza Muñoz, M.E. et al. (2019). A Parallel RatSlam C++ Library Implementation. In: Cota, V., Barone, D., Dias, D., Damázio, L. (eds) Computational Neuroscience. LAWCN 2019. Communications in Computer and Information Science, vol 1068. Springer, Cham. https://doi.org/10.1007/978-3-030-36636-0_13

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  • DOI: https://doi.org/10.1007/978-3-030-36636-0_13

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