Computational Principles of Mobile Robotics / Edition 2

Computational Principles of Mobile Robotics / Edition 2

by Gregory Dudek, Michael Jenkin
     
 

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ISBN-10: 0521692121

ISBN-13: 9780521692120

Pub. Date: 07/26/2010

Publisher: Cambridge University Press

Mobile robotics is a multidisciplinary field involving both computer science and engineering. Addressing the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics.

This textbook for advanced undergraduates and graduate students emphasizes computation and algorithms for a range of strategies for

Overview

Mobile robotics is a multidisciplinary field involving both computer science and engineering. Addressing the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics.

This textbook for advanced undergraduates and graduate students emphasizes computation and algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but also discusses a variety of other propulsion systems. The new edition presents advances in robotics and intelligent machines over the last 10 years, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained.

Researchers and students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.

Product Details

ISBN-13:
9780521692120
Publisher:
Cambridge University Press
Publication date:
07/26/2010
Edition description:
New Edition
Pages:
406
Product dimensions:
7.00(w) x 9.90(h) x 0.80(d)

Table of Contents

Acknowledgments xi

Perface to the Second Edition xiii

1 Overview and Motivation 1

1.1 From Mechanisms to Computation 4

1.2 Historical Context 5

1.3 Biological Inspiration 11

1.4 Operational Regimes 11

1.5 Operational Modes 11

1.6 A Guide to This Book 12

1.7 Further Reading 13

1.8 Problems 16

2 Fundamental Problems 18

2.1 Path Planning for a Point Robot 19

2.2 Localization for a Point Robot 21

2.3 Sensing for a Point Robot 23

2.4 Mapping for a Point Robot 25

2.5 SLAM for a Point Robot 25

2.6 Looking Forward 26

2.7 Further Reading 27

2.8 Problems 27

Part 1 Locomotion and Perception 29

3 Mobile Robot Hardware 31

3.1 Locomotion 31

3.2 Off-Board Communication 71

3.3 Processing 75

3.4 Further Reading 76

3.5 Problems 77

4 Non-Visual Sensors and Algorithms 82

4.1 Basic Concepts 82

4.2 Contact Sensors: Bumpers 86

4.3 Inertial Sensors 87

4.4 Infrared Sensors 90

4.5 Sonar 91

4.6 Radar 98

4.7 Laser Rangefinders 98

4.8 Satellite-Based Positioning 100

4.9 Data Fusion 102

4.10 Biological Sensing 118

4.11 Further Reading 120

4.12 Problems 121

5 Visual Sensors and Algorithms 123

5.1 Visual Sensors 124

5.2 Object Appearance and Shading 131

5.3 Signals and Sampling 132

5.4 Image Features and Their Combination 134

5.5 Obtaining Depth 149

5.6 Active Vision 155

5.7 Other Sensors 158

5.8 Biological Vision 162

5.9 Further Reading 163

5.10 Problems 164

Part 2 Representation and Planning 165

6 Representing and Reasoning About Space 167

6.1 Representing Space 167

6.2 Representing the Robot 176

6.3 Path Planning for Mobile Robots 179

6.4 Planning for Multiple Robots 208

6.5 Biological Mapping 209

6.6 Further Reading 210

6.7 Problems 210

7 System Control 212

7.1 Horizontal Decomposition 213

7.2 Vertical Decomposition 217

7.3 Hybrid Control Architectures 223

7.4 Middleware 226

7.5 High-Level Control 226

7.6 Alternative Control Formalisms 230

7.7 The Human-Robot Interface 235

7.8 Mobile Robot Software Development as Experimentation 237

7.9 Standard Software Toolkits 237

7.10 Further Reading 238

7.11 Problems 239

8 Pose Maintenance and Localization 240

8.1 Simple Landmark Measurement 241

8.2 Servo Control 249

8.3 Recursive Filtering 250

8.4 Non-Geometric Methods: Perceptual Structure 260

8.5 Correlation-Based Localization 267

8.6 Global Localization 267

8.7 Biological Approaches to Localization 273

8.8 Further Reading 274

8.9 Problems 274

9 Mapping and Related Tasks 276

9.1 Sensorial Maps 278

9.2 Geometric Maps 279

9.3 Topological Maps 287

9.4 Exploration 291

9.5 Further Reading 294

9.6 Problems 294

10 Robot Collectives 295

10.1 Categorizing Collectives 296

10.2 Control Architectures 296

10.3 Collective Communication 299

10.4 Sensing 300

10.5 Planning for Action 301

10.6 Formation Control 302

10.7 Localization 303

10.8 Mapping 304

10.9 Further Reading 305

10.10 Problems 306

11 Robots in Practice 307

11.1 Delivery Robots 307

11.2 Intelligent Vehicles 309

11.3 Robots for Survey and Inspection 314

11.4 Mining Automation 316

11.5 Space Robotics 317

11.6 Autonomous Aircraft 319

11.7 Military Reconnaissance 320

11.8 Bomb/Mine Disposal 320

11.9 Underwater Inspection 322

11.10 Agriculture/Forestry 323

11.11 Aids for the Disabled 325

11.12 Entertainment 326

11.13 Domestic Robots 327

11.14 Further Reading 327

11.15 Problems 328

12 The Future of Mobile Robotics 329

12.1 Locomotion 329

12.2 Sensors 331

12.3 Control 332

12.4 System Integration 332

12.5 Standardization 333

12.6 Future Directions 333

Appendix A Probability and Statistics 335

A.1 Probability 335

A.2 Some Simple Statistics 338

A.3 Further Reading 339

A.4 Problems 339

Appendix B Linear Systems, Matrices, and Filtering 341

B.l Linear Algebra 341

B.2 Matrix Algebra 341

B.3 Signals and Systems 343

B.4 Fourier Theory 344

B.5 Sampling and the Nyquist Theorem 344

B.6 Further Reading 345

B.7 Problems 345

Appendix C Markov Models 346

C.1 Discrete Markov Process 346

C.2 Hidden Markov Models 348

C.3 Markov Decision Process 349

C.4 POMDP 350

C.5 Further Reading 351

C.6 Problems 351

Bibliography 353

Index 381

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