Computational Principles of Mobile Robotics

ISBN-10: 0521692121
ISBN-13: 9780521692120
Edition: 2nd 2010 (Revised)
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Book details

List price: $120.00
Edition: 2nd
Copyright year: 2010
Publisher: Cambridge University Press
Publication date: 7/26/2010
Binding: Paperback
Pages: 406
Size: 6.25" wide x 8.75" long x 0.75" tall
Weight: 1.870
Language: English

Gregory Dudek is Professor of Computer Science and Director of the School of Computer Science at McGill University. He holds a James McGill Chair and is a member of the Center for Intelligent Machines, and has been co-author of over 150 refereed publications on robotics and computer vision.

Acknowledgments
Perface to the Second Edition
Overview and Motivation
From Mechanisms to Computation
Historical Context
Biological Inspiration
Operational Regimes
Operational Modes
A Guide to This Book
Further Reading
Problems
Fundamental Problems
Path Planning for a Point Robot
Localization for a Point Robot
Sensing for a Point Robot
Mapping for a Point Robot
SLAM for a Point Robot
Looking Forward
Further Reading
Problems
Locomotion and Perception
Mobile Robot Hardware
Locomotion
Off-Board Communication
Processing
Further Reading
Problems
Non-Visual Sensors and Algorithms
Basic Concepts
Contact Sensors: Bumpers
Inertial Sensors
Infrared Sensors
Sonar
Radar
Laser Rangefinders
Satellite-Based Positioning
Data Fusion
Biological Sensing
Further Reading
Problems
Visual Sensors and Algorithms
Visual Sensors
Object Appearance and Shading
Signals and Sampling
Image Features and Their Combination
Obtaining Depth
Active Vision
Other Sensors
Biological Vision
Further Reading
Problems
Representation and Planning
Representing and Reasoning About Space
Representing Space
Representing the Robot
Path Planning for Mobile Robots
Planning for Multiple Robots
Biological Mapping
Further Reading
Problems
System Control
Horizontal Decomposition
Vertical Decomposition
Hybrid Control Architectures
Middleware
High-Level Control
Alternative Control Formalisms
The Human-Robot Interface
Mobile Robot Software Development as Experimentation
Standard Software Toolkits
Further Reading
Problems
Pose Maintenance and Localization
Simple Landmark Measurement
Servo Control
Recursive Filtering
Non-Geometric Methods: Perceptual Structure
Correlation-Based Localization
Global Localization
Biological Approaches to Localization
Further Reading
Problems
Mapping and Related Tasks
Sensorial Maps
Geometric Maps
Topological Maps
Exploration
Further Reading
Problems
Robot Collectives
Categorizing Collectives
Control Architectures
Collective Communication
Sensing
Planning for Action
Formation Control
Localization
Mapping
Further Reading
Problems
Robots in Practice
Delivery Robots
Intelligent Vehicles
Robots for Survey and Inspection
Mining Automation
Space Robotics
Autonomous Aircraft
Military Reconnaissance
Bomb/Mine Disposal
Underwater Inspection
Agriculture/Forestry
Aids for the Disabled
Entertainment
Domestic Robots
Further Reading
Problems
The Future of Mobile Robotics
Locomotion
Sensors
Control
System Integration
Standardization
Future Directions
Probability and Statistics
Probability
Some Simple Statistics
Further Reading
Problems
Linear Systems, Matrices, and Filtering
Linear Algebra
Matrix Algebra
Signals and Systems
Fourier Theory
Sampling and the Nyquist Theorem
Further Reading
Problems
Markov Models
Discrete Markov Process
Hidden Markov Models
Markov Decision Process
POMDP
Further Reading
Problems
Bibliography
Index

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