RatSLAM

Robot Navigation From Nature: Simultaneous Localization, Mapping, and Path Planning Based on Hippocampal Models

RatSLAM in the media

Electronics Weekly

Mapping a Suburb with a Single Camera Using a Biologically Inspired SLAM System

The code shown below is in support of our paper in the IEEE Transactions on Robotics Special Issue on Visual SLAM, published in October 2008. The paper is titled:

Mapping a Suburb with a Single Camera using a Biologically Inspired SLAM System

You can access the paper (may not be out yet) at the IEEE Transactions on Robotics website here. Details for the paper are as follows:

Milford, M. and Wyeth, G., Mapping a Suburb with a Single Camera using a Biologically Inspired SLAM System, Vol. 24, No. 5, October 2008

You can access a video showing RatSLAM mapping a suburb here.

IEEE Paper Supporting MATLAB Code

Try RatSLAM with your own datasets! Download a simplified MATLAB version here.

RatSLAM in New Scientist magazine

You can read a story about RatSLAM in the magazine New Scientist here.

RatSLAM Publications

2008

  • M. J. Milford, G. Wyeth, "Mapping a Suburb with a Single Camera using a Biologically Inspired SLAM System", IEEE Transactions on Robotics Special Issue on Visual SLAM. Scheduled for publication October 2008.
  • M. J. Milford, "Robot Navigation from Nature", Springer-Verlag, March 2008. Link here.
  • M. J. Milford, G. Wyeth, "Single Camera Vision-Only SLAM on a Suburban Road Network", proceedings of the International Conference on Robotics and Automation, Pasadena, United States (2008).
  • M. J. Milford, "From Rats to Robots: Engineering a Functional Biomimetic Navigation System", Journal and Proceedings of The Royal Society of New South Wales.

2007

  • M. J. Milford, "Featureless Vehicle-Based SLAM with a Consumer Camera", presented at the Australasian Conference on Robotics and Automation, Brisbane, Australia.
  • M. J. Milford, G. Wyeth, "Spatial Mapping and Map Exploitation: a Bio-Inspired Engineering Perspective", Springer Lecture Notes in Computer Science (LNCS). Link here. 
  • M. J. Milford, R. Schulz, D. Prasser, G. Wyeth, J. Wiles, “Learning Spatial Concepts from RatSLAM Representations”, Robotics and Autonomous Systems journal.

2006

  • M.J. Milford, G. Wyeth, D. Prasser, "RatSLAM on the Edge: Revealing a Coherent Representation from an Overloaded Rat Brain", International Conference on Intelligent Robots and Systems, Beijing, China, 2006.
  • R. Schulz, M. J. Milford, D. Prasser, G. Wyeth, J. Wiles, "Learning Spatial Concepts from RatSLAM Representations", "From sensors to human spatial concepts" at the International Conference on Intelligent Robots and Systems, Beijing, China, 2006.
  • M.J. Milford, D. Prasser, G. Wyeth, "Effect of Representation Size and Visual Ambiguity on RatSLAM System Performance", Australasian Conference on Robotics and Automation, Auckland, New Zealand, 2006.

2005

  • M. J. Milford, D. Prasser, G. Wyeth, "Experience Mapping: Producing Spatially Continuous Environment Representations Using RatSLAM," Australasian Conference on Robotics and Automation, Sydney, Australia, 2005.  
  • S. Emami, G. Wyeth, M. Milford, D. Prasser, "Framework for the Long-Term Operation of a Mobile Robot via the Internet," Australasian Conference on Robotics and Automation, Sydney, Australia, 2005.  
  • M. J. Milford, G. Wyeth, D. Prasser, "Efficient Goal Directed Navigation using RatSLAM," International Conference on Robotics and Automation, Barcelona, Spain, 2005.
  • D. Prasser, M. J. Milford, G. Wyeth, "Outdoor Simultaneous Localisation and Mapping using RatSLAM," accepted to the International Conference on Field and Service Robots , Port Douglas, Australia, 2005.

2004

  • M. J. Milford, G. Wyeth, D. Prasser, "Simultaneous Localization and Mapping from Natural Landmarks using RatSLAM," Australasian Conference on Robotics and Automation, Canberra, Australia, 2004.  
  • D. Prasser, G. Wyeth, M. J. Milford, "Experiments in Outdoor Operation of RatSLAM," Australasian Conference on Robotics and Automation, Canberra Australia, 2004.  
  • D. Prasser,  G. Wyeth, M. J. Milford, "Biologically Inspired Visual Landmark Processing for Simultaneous Localization and Mapping," International Conference on Intelligent Robots and Systems, Sendai, Japan, 2004  
  • M. J. Milford, G. Wyeth, D. Prasser, "RatSLAM: A Hippocampal Model for Simultaneous Localization and Mapping," International Conference on Robotics and Automation, New Orleans, United States, 2004.

2003 

  • M. J. Milford and G. Wyeth, "Hippocampal Models for Simultaneous Localisation and Mapping on an Autonomous Robot," presented at Australasian Conference on Robotics and Automation, Brisbane, Australia, 2003.  

RatSLAM Robot Controller

Control a real robot in Australia from your web browser!

  • Watch the robot drive around the lab at University of QLD, Australia.
  • The robot will build its own map of the lab (using a technique known as SLAM).
  • Tell the robot where to go in its map.
  • The robot will drive itself to the place you asked it.
  • When the batteries are low, the robot will automatically find its battery charger and recharge itself.

NOTE: This is currently in Alpha stage. The physical robot will only be online for typically an hour per day. At other times, a simulated robot will be online. The robot is intended to be online 24 hrs per day 7 days a week, since it can recharge its own batteries.

Choose from one of these views:

Standard mode   (with adjustable windows)

Cockpit mode   (like a 1st person game)

Learn about RatSLAM


RatSLAM is a new method of robot control that allows a robot to learn a map of any area and then navigate using that map. The new method is based on ideas from models of rodent brains.

RatSLAM details & history by Gordon Wyeth

RatSLAM details by Michael Milford

RatSLAM Mapping

The RatSLAM project has two intended outcomes:

  • A new method for the mobile robot problem of Simultaneous Localisation And Mapping (SLAM).
  • Reproducing a high-level brain function in a robot in order to increase the understanding of memory and learning in mammals, including humans.

RatSLAM has been tested on several mobile robots both indoor and outdoor, including Pioneer robots and even an outdoor tractor.

visits since 02 October, 2008