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| Preface | |
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| Acknowledgments | |
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| Introduction | |
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| Autonomous Mobile Robots | |
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| Example: Collection Task | |
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| Robot Defined | |
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| Sensing | |
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| Actuation | |
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| Intelligence | |
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| Mobile and Immobile Robots | |
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| Responding to the Challenge | |
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| Robot's World View | |
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| Summary | |
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| Exercises | |
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| Control Systems | |
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| Open and Closed Loop Control | |
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| Position Control Example | |
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| Control System Catastrophe | |
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| Control System Stability | |
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| Saturation, Backlash, and Dead Zones | |
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| Open Loop Controllers with Parameters and State | |
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| Bang-Bang Controllers | |
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| Hysteresis | |
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| Summary | |
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| Exercises | |
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| Behaviors | |
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| Triggers and Control Systems | |
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| Servo and Ballistic Behaviors | |
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| Implementing Servo Behaviors | |
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| Finite State Analysis | |
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| FSM Example: Escape | |
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| FSM Implementation | |
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| Overloading Behaviors | |
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| Summary | |
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| Exercises | |
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| Arbitration | |
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| Fixed Priority Arbitration | |
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| When to Arbitrate | |
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| Graceful Degradation | |
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| The Path Not Taken | |
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| Sensor Qualification | |
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| Other Arbitration Schemes | |
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| Variable Priority | |
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| Subsumption Architecture | |
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| Motor Schema | |
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| Least Commitment Arbitration | |
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| Summary | |
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| Exercises | |
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| Programming | |
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| Homing Based on Differential Detectors | |
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| Homing Based on Absolute Position | |
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| Avoidance with Differential Detectors | |
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| Anti-Canyoning | |
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| Wall-Following with Contact Sensors | |
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| Wall-Following with Ranging Sensors | |
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| Wall-Following with Proximity Sensors | |
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| Confinement and Cliff Behaviors | |
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| Thrashing | |
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| Escape | |
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| Area Coverage | |
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| Deterministic Coverage | |
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| Random Coverage | |
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| Generalized Differential Response | |
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| Avoidance and Homing Using Vectors | |
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| Debugging | |
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| Summary | |
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| Exercises | |
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| Decomposition | |
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| SodaBot | |
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| Stating the Problem | |
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| Accomplishing the Task Simply | |
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| Visit Likely Spots | |
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| Identify Soda Cans | |
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| Abandoned versus Active Sodas | |
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| Can Pickup | |
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| Navigation | |
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| Identify, Deposit, and Recharge | |
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| Avoid Hazards | |
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| Mechanical Platform | |
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| Which Questions? | |
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| Which Sensors? | |
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| Building Behaviors | |
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| SodaBot Behaviors | |
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| Robot Recap | |
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| Principles | |
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| First Do No Harm | |
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| Tilt the Playing Field | |
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| Prefer Robust Chaos to Brittle Determinism | |
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| Summary | |
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| Exercises | |
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| Physical Interfaces | |
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| Collision Sensors | |
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| Bumpers | |
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| Stall Sensors | |
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| Stasis Sensing | |
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| Avoidance Sensors | |
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| Infrared Proximity Sensors | |
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| Infrared Range Sensors | |
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| Sonar Sensors | |
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| Range-Sensor Considerations | |
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| Homing Sensors | |
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| Photocells, Phototransistors, and Photodiodes | |
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| Coded Beacons | |
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| Pyroelectric Sensors | |
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| Color Blob Sensors | |
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| Magnetic Sensors | |
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| Dead Reckoning and Navigation Sensors | |
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| Shaft Encoders | |
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| Inertial Sensors | |
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| Compasses | |
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| GPS | |
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| Summary | |
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| Exercises | |
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| Implementation | |
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| RoCK Specifications: The Goal of a New Machine | |
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| Programming Specifications | |
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| RoCK's Behaviors | |
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| Dance | |
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| IR_follow and VL_follow | |
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| Boston | |
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| Cruise | |
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| Escape | |
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| Joystick | |
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| Wire | |
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| Beeper Control | |
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| The Code | |
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| Scheduler | |
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| Behavior Format | |
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| Arbiter | |
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| Summary | |
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| Exercises | |
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| Future Robots | |
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| Reply Hazy--Ask Again Later | |
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| Which Path? | |
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| Future Actuation | |
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| Power | |
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| Motors | |
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| Manipulation | |
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| Locomotion | |
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| Future Intelligence | |
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| Robot Control | |
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| Learning | |
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| Future Sensing | |
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| Vision | |
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| Acoustic Sensing | |
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| Other Sensors | |
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| Exercise | |
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| Mathematics of Differential Drive | |
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| Pose | |
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| Dead Reckoning | |
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| Differential Drive | |
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| London Fog | |
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| Limits of Dead Reckoning | |
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| Summary | |
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| Exercises | |
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| BSim | |
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| BSim Aspects | |
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| The Simulator and Time | |
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| The World | |
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| Fantasy Mode and Noise | |
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| Latency | |
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| A Simple Robot | |
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| Behaviors and Arbitration | |
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| Cruise | |
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| Escape | |
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| Avoid | |
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| Wall Follow | |
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| Home | |
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| Anti-Moth | |
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| Dark-Push | |
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| London | |
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| Gizmo | |
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| Remote | |
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| Tasks | |
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| Collection Task | |
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| Gizmo Task | |
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| London Task | |
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| Simulations | |
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| Collection Simulation | |
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| London Simulation | |
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| Gizmo Simulation | |
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| User Interface | |
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| World Editor | |
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| The Robot Programmer | |
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| Frequently Used Functions | |
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| Clip | |
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| Leaky Integrator | |
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| Running Average | |
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| Angle Computations | |
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| Pseudocode | |
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| Bibliography | |
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| Index | |