Fig. 1 The Boston Dynamics Spot quadrupedal robot that was used in this work with the Velodyne VLP-16 LiDAR sensor mounted to its back More about this image found in The Boston Dynamics Spot quadrupedal robot that was used in this work with ...

Fig. 2 Example scores for a set of point clouds o , with the optimal age function a displayed to show the maximum value of each point cloud if they were recorded with enough space in time. One week of point cloud recordings are highlighted in the box. More about this image found in Example scores for a set of point clouds o , with the optimal age func...

Fig. 3 A set of point clouds from the same waypoint but with a differing percentage of point clouds making up the score limit S l i m : ( a ) Google Earth image of the waypoint location for Ref. [ 28 ], ( b ) originally recorded point cloud, ( c ) merged point c... More about this image found in A set of point clouds from the same waypoint but with a differing percentag...

Fig. 4 An example of a waypoint in front of the library from Fig. 7 : ( a ) aligned raw data from three separate recordings, with people walking around sitting at the picnic tables next to the robot and ( b ) the final updated point cloud used for localization More about this image found in An example of a waypoint in front of the library from Fig. 7 : ( a ) ...

Fig. 5 Autowalk point cloud of two loops around the fourth floor of the Ontario Tech engineering building: ( a ) originally recorded map and ( b ) updated map More about this image found in Autowalk point cloud of two loops around the fourth floor of the Ontario Te...

Fig. 6 Autowalk point cloud of two loops around the fourth floor engineering building: ( a ) originally recorded map and ( b ) updated map More about this image found in Autowalk point cloud of two loops around the fourth floor engineering build...

Fig. 7 Autowalk around the Ontario Tech campus: ( a ) the path around the campus [ 28 ], ( b ) originally recorded point cloud, and ( c ) updated point cloud More about this image found in Autowalk around the Ontario Tech campus: ( a ) the path around the ...

Fig. 8 A zoomed-in view of the top right corner of Fig. 7 : ( a ) the originally recorded point cloud and ( b ) the updated point cloud More about this image found in A zoomed-in view of the top right corner of Fig. 7 : ( a ) the ori...

Fig. 9 A waypoint in the outdoor Autowalk with the originally recorded point cloud colored in red with the points from the vehicle and people visible and the updated point cloud colored in blue with the points from the vehicle and people removed and the wall added More about this image found in A waypoint in the outdoor Autowalk with the originally recorded point cloud...

Fig. 10 The fitness values of the map recordings compared to the updated map and the original map More about this image found in The fitness values of the map recordings compared to the updated map and th...

Fig. 11 The inlier RMSE values of the map recordings compared to the updated map and the original map More about this image found in The inlier RMSE values of the map recordings compared to the updated map an...

Fig. 1 Connected and automated platoon More about this image found in Connected and automated platoon

Fig. 2 Interval type-2 fuzzy logic system: ( a ) general framework of IT2FLS and ( b ) t -norm operation for two-input case More about this image found in Interval type-2 fuzzy logic system: ( a ) general framework of IT2F...

Fig. 3 Proposed control framework More about this image found in Proposed control framework

Fig. 4 Comparison of commonly used reaching laws ( a ) and the corresponding sliding surfaces ( b ) ( β 1 = 10 , β 2 = 10 , β 3 = 10 , α = 0.5 ) More about this image found in Comparison of commonly used reaching laws ( a ) and the correspondi...

Fig. 5 Control performance under a no-fault condition More about this image found in Control performance under a no-fault condition

Fig. 6 Comparison of the approximation errors: ( a ) approximation error of IT2FLS and ( b ) approximation error of RBF-NN More about this image found in Comparison of the approximation errors: ( a ) approximation error o...