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Before downloading Carmen, we ask that you please give us a small amount of information by completing our survey. We'd like to know who uses our software.

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Click here to download the software. The latest release is carmen.0.4.6.ii, updated 14 January, 2004.

The chief changes from Carmen 0.4.61 to 0.4.6.ii are:

• Added support for multiple robots

The chief changes from Carmen 0.4.6 to 0.4.6.i are:

• IPC upgraded to 3.7.6
• serious navigator memory leak fixed
• navigator CPU usage bug fixed
• command line argument bugs fixed in param_server, install_params
• the navigator window can be arbitrarily resized now
• all interface libraries now define the IPC messages each interface function uses, the first time the function is called. this way, if modules come up in different orders, you don't get a stream of IPC error messages any more.

The chief changes from Carmen 0.4.5 to 0.4.6 are:

• There is no more people tracking in localize. This functionality will be in a separate module in the future.
• All quantities are reported in world coordinates. Nothing, including the particle message, is reported in anything other than world coordinates.
• The guts of localize have a library interface, called liblocalizecore.a.
• Localize now emits a weighted sample mean in response to every laser reading. By incorporating the weights given the current observation, (whether or not it is actually incorporated), the resulting mean scans are SUBSTANTIALLY more accurate than before.
• Global localization is potentially faster and more accurate.
• There is a new option called use_scanmatching, which uses gradient descent to fine-tune the output of localize.
• Localizegraph is no more. navigator_panel does everything you might need.

See the CARMEN Update List for a history of previous changes.

Return to the Carmen Home Page.
Return to the Downloading and Installing Carmen Page for instructions on installing your software.