Probabilistic Robotics / Edition 1

Probabilistic Robotics / Edition 1

by Sebastian Thrun, Wolfram Burgard, Dieter Fox
     
 

ISBN-10: 0262201623

ISBN-13: 9780262201629

Pub. Date: 09/01/2005

Publisher: MIT Press

Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All

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Overview

Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

The MIT Press

Product Details

ISBN-13:
9780262201629
Publisher:
MIT Press
Publication date:
09/01/2005
Series:
Intelligent Robotics and Autonomous Agents series
Edition description:
New Edition
Pages:
672
Sales rank:
576,360
Product dimensions:
8.00(w) x 9.00(h) x 1.12(d)
Age Range:
18 Years

Table of Contents

1Introduction3
2Recursive state estimation13
3Gaussian filters39
4Nonparametric filters85
5Robot motion117
6Robot perception149
7Mobile robot localization : Markov and Gaussian191
8Mobile robot localization : grid and Monte Carlo237
9Occupancy grid mapping281
10Simultaneous localization and mapping309
11The GraphSLAM algorithm337
12The sparse extended information filter385
13The FastSLAM algorithm437
14Markov decision processes487
15Partially observable Markov decision processes513
16Approximate POMDP techniques547
17Exploration569

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