Most current methods for 802.11-based indoor localization depend on surveys conducted by experts or skilled technicians. Some recent systems have incorporated surveying by users. Structuring localization systems "organically," however, introduces its own set of challenges: conveying uncertainty, determining when user input is actually required, and discounting erroneous and stale data. Through deployment of an organic location system in our nine-story building, which contains nearly 1,400 distinct spaces, we evaluate new algorithms for addressing these challenges. We describe the use of Voronoi regions for conveying uncertainty and reasoning about gaps in coverage, and a clustering method for identifying potentially erroneous user data. Our algorithms facilitate rapid coverage while maintaining positioning accuracy comparable to that achievable with survey-driven indoor deployments.

We demonstrate a method for collaborative ranking of future events. Previous work on recommender systems typically relies on feedback on a particular item, such as a movie, and generalizes this to other items or other people. In contrast, we examine a setting where no feedback exists on the particular item. Because direct feedback does not exist for events that have not taken place, we recommend them based on individuals' preferences for past events, combined collaboratively with other peoples' likes and dislikes. We examine the topic of unseen item recommendation through a user study of academic (scientific) talk recommendation, where we aim to correctly estimate a ranking function for each user, predicting which talks would be of most interest to them. Then by decomposing user parameters into shared and individual dimensions, we induce a similarity metric between users based on the degree to which they share these dimensions. We show that the collaborative ranking predictions of future events are more effective than pure content-based recommendation. Finally, to further reduce the need for explicit user feedback, we suggest an active learning approach for eliciting feedback and a method for incorporating available implicit user cues.

This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. Task allocation, sensing and manipulation are distributed in the system and de-centrally coordinated. We describe the architecture of this system and present experimental results for navigation, object recognition and manipulation.

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition and manipulation as well as challenges that This work was done at the

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