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. 2016 Feb 17;10:13. doi: 10.3389/fncom.2016.00013

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Copyright © 2016 Mulas, Waniek and Conradt.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Components of the robotic setup. (A) Mobile robotic platform used to record sensory data during the exploration of a circular arena. A wireless camera pointing to the ceiling is mounted on top of the robot. Three reflective markers fixed on the robot frame are used by the tracking system to estimate the velocity and orientation of the robot. (B) The field of view of the camera mounted on top of the robot. The center of the camera's field of view is aligned with the center of the robot. The visible markers, arranged on a regular grid on the ceiling, are detected and decoded by the software Aruco (Garrido-Jurado et al., 2014).