| |
| |
| 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 | |