From 2001 to 2003, I conducted robotics research at the University of Limerick, focusing on robotic navigation and map building.
My research focused on creating accurate maps for mobile robots using sonar sensors, which are notoriously noisy and unreliable. This involved statistical techniques to filter sensor data, path planning algorithms, and map representation methods.
A major output of this research was MapViewer, a standalone application for building, viewing, and manipulating maps for mobile robotics applications. It supports various robotics formats and includes tools for converting grid maps to vector maps, generating Voronoi diagrams, path planning, and robot motion simulation.
The following datasets were used in my research. They contain robot runs with various parameters and configurations: