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Reliable Robot Localization
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Book Synopsis Reliable Robot Localization by : Simon Rohou
Download or read book Reliable Robot Localization written by Simon Rohou and published by John Wiley & Sons. This book was released on 2020-01-02 with total page 293 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.
Book Synopsis Robot Localization and Map Building by : Hanafiah Yussof
Download or read book Robot Localization and Map Building written by Hanafiah Yussof and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.
Book Synopsis Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization by : Abhinav Valada
Download or read book Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization written by Abhinav Valada and published by . This book was released on 2019* with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Reliable Robot Localization by : Simon Rohou
Download or read book Reliable Robot Localization written by Simon Rohou and published by Wiley-ISTE. This book was released on 2019-12-03 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization for underwater robots remains a challenging issue. Typical sensors, such as Global Navigation Satellite System (GNSS) receivers, cannot be used under the surface and other inertial systems suffer from a strong integration drift. On top of that, the seabed is generally uniform and unstructured, making it difficult to apply Simultaneous Localization and Mapping (SLAM) methods to perform localization. Reliable Robot Localization presents an innovative new method which can be characterized as a raw-data SLAM approach. It differs from extant methods by considering time as a standard variable to be estimated, thus raising new opportunities for state estimation, so far underexploited. However, such temporal resolution is not straightforward and requires a set of theoretical tools in order to achieve the main purpose of localization. This book not only presents original contributions to the field of mobile robotics, it also offers new perspectives on constraint programming and set-membership approaches. It provides a reliable contractor programming framework in order to build solvers for dynamical systems. This set of tools is illustrated throughout this book with realistic robotic applications.
Book Synopsis Robot Localization and Map Building by : Hanafiah Yussof
Download or read book Robot Localization and Map Building written by Hanafiah Yussof and published by IntechOpen. This book was released on 2010-03-01 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.
Book Synopsis Towards Dependable Robotic Perception by : Anna V. Petrovskaya
Download or read book Towards Dependable Robotic Perception written by Anna V. Petrovskaya and published by Stanford University. This book was released on 2011 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reliable perception is required in order for robots to operate safely in unpredictable and complex human environments. However, reliability of perceptual inference algorithms has been poorly studied so far. These algorithms capture uncertain knowledge about the world in the form of probabilistic belief distributions. A number of Monte Carlo and deterministic approaches have been developed, but their efficiency depends on the degree of smoothness of the beliefs. In the real world, the smoothness assumption often fails, leading to unreliable perceptual inference results. Motivated by concrete robotics problems, we propose two novel perceptual inference algorithms that explicitly consider local non-smoothness of beliefs and adapt to it. Both of these algorithms fall into the category of iterative divide-and-conquer methods and hence scale logarithmically with desired accuracy. The first algorithm is termed Scaling Series. It is an iterative Monte Carlo technique coupled with annealing. Local non-smoothness is accounted for by sampling strategy and by annealing schedule. The second algorithm is termed GRAB, which stands for Guaranteed Recursive Adaptive Bounding. GRAB is an iterative adaptive grid algorithm, which relies on bounds. In this case, local non-smoothness is captured in terms of local bounds and grid resolution. Scaling Series works well for beliefs with sharp transitions, but without many discontinuities. GRAB is most appropriate for beliefs with many discontinuities. Both of these algorithms far outperform the prior art in terms of reliability, efficiency, and accuracy. GRAB is also able to guarantee that a quality approximation of the belief is produced. The proposed algorithms are evaluated on a diverse set of real robotics problems: tactile perception, autonomous driving, and mobile manipulation. In tactile perception, we localize objects in 3D starting with very high initial uncertainty and estimating all 6 degrees of freedom. The localization is performed based on tactile sensory data. Using Scaling Series, we obtain highly accurate and reliable results in under 1 second. Improved tactile object localization contributes to manufacturing applications, where tactile perception is widely used for workpiece localization. It also enables robotic applications in situations where vision can be obstructed, such as rescue robotics and underwater robotics. In autonomous driving, we detect and track vehicles in the vicinity of the robot based on 2D and 3D laser range finders. In addition to estimating position and velocity of vehicles, we also model and estimate their geometric shape. The geometric model leads to highly accurate estimates of pose and velocity for each vehicle. It also greatly simplifies association of data, which are often split up into separate clusters due to occlusion. The proposed Scaling Series algorithm greatly improves reliability and ensures that the problem is solved within tight real time constraints of autonomous driving. In mobile manipulation, we achieve highly accurate robot localization based on commonly used 2D laser range finders using the GRAB algorithm. We show that the high accuracy allows robots to navigate in tight spaces and manipulate objects without having to sense them directly. We demonstrate our approach on the example of simultaneous building navigation, door handle manipulation, and door opening. We also propose hybrid environment models, which combine high resolution polygons for objects of interest with low resolution occupancy grid representations for the rest of the environment. High accuracy indoor localization contributes directly to home/office mobile robotics as well as to future robotics applications in construction, inspection, and maintenance of buildings. Based on the success of the proposed perceptual inference algorithms in the concrete robotics problems, it is our hope that this thesis will serve as a starting point for further development of highly reliable perceptual inference methods.
Book Synopsis Reliable Long-term Localization for Home Mobile Robots by : Xianggen Li
Download or read book Reliable Long-term Localization for Home Mobile Robots written by Xianggen Li and published by . This book was released on 2018 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision Based Mobile Robotics: mobile robot localization using vision sensors and active probabilistic approaches by : Emanuele Frontoni
Download or read book Vision Based Mobile Robotics: mobile robot localization using vision sensors and active probabilistic approaches written by Emanuele Frontoni and published by Lulu.com. This book was released on 2012-01-22 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of vision in mobile robotics in one of the main goal of this thesis. In particular novel appearance based approaches for image matching metric are introduced. These approaches are applied to the problem of mobile robot localization.Similarity measures between robot's views are used in probabilistic methods for robot pose estimation. In this field of probabilistic localization active approach are proposed allowing the robot to faster and better localize. All methods have been extensively tested using a real robot in an indoor environment.Note: the book is the publication of the PhD thesis discussed in Università Politecnica delle Marche, Ancona, Italy in 2006 by Emanuele Frontoni
Book Synopsis Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods by : Fernández-Madrigal, Juan-Antonio
Download or read book Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods written by Fernández-Madrigal, Juan-Antonio and published by IGI Global. This book was released on 2012-09-30 with total page 497 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.
Book Synopsis Accurate and Reliable Mobile Robots Localization Based on Secondary Radar and Multi-Modal Sensor Fusion by : Yassen Dobrev
Download or read book Accurate and Reliable Mobile Robots Localization Based on Secondary Radar and Multi-Modal Sensor Fusion written by Yassen Dobrev and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Filtering Algorithm for Reliable Localization of Mobile Robot in Multi-Sensor Environment by : Yong-Shik Kim
Download or read book Filtering Algorithm for Reliable Localization of Mobile Robot in Multi-Sensor Environment written by Yong-Shik Kim and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Filtering Algorithm for Reliable Localization of Mobile Robot in Multi-Sensor Environment.
Book Synopsis Robotic Mapping and Exploration by : Cyrill Stachniss
Download or read book Robotic Mapping and Exploration written by Cyrill Stachniss and published by Springer. This book was released on 2009-05-06 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Book Synopsis RoboCup 2005: Robot Soccer World Cup IX by : Ansgar Bredenfeld
Download or read book RoboCup 2005: Robot Soccer World Cup IX written by Ansgar Bredenfeld and published by Springer Science & Business Media. This book was released on 2006-06-21 with total page 742 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the ninth official archival publication devoted to RoboCup, documenting presentations at the RoboCup 2005 International Symposium, held in Osaka, Japan, July 2005 alongside the RoboCup Competition. The book presents 34 revised full papers and 38 revised short papers together with two award-winning papers. This is a valuable source of reference and inspiration for those interested in robotics or distributed intelligence, and mandatory reading for the rapidly growing RoboCup community.
Book Synopsis Mobile Robot Localization and Map Building by : Jose A. Castellanos
Download or read book Mobile Robot Localization and Map Building written by Jose A. Castellanos and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.
Book Synopsis Robot Localization and Map Building by : Hanafiah Yussof
Download or read book Robot Localization and Map Building written by Hanafiah Yussof and published by IntechOpen. This book was released on 2010-03-01 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt: Localization and mapping are the essence of successful navigation in mobile platform technology. Localization is a fundamental task in order to achieve high levels of autonomy in robot navigation and robustness in vehicle positioning. Robot localization and mapping is commonly related to cartography, combining science, technique and computation to build a trajectory map that reality can be modelled in ways that communicate spatial information effectively. This book describes comprehensive introduction, theories and applications related to localization, positioning and map building in mobile robot and autonomous vehicle platforms. It is organized in twenty seven chapters. Each chapter is rich with different degrees of details and approaches, supported by unique and actual resources that make it possible for readers to explore and learn the up to date knowledge in robot navigation technology. Understanding the theory and principles described in this book requires a multidisciplinary background of robotics, nonlinear system, sensor network, network engineering, computer science, physics, etc.
Book Synopsis ROBOT 2017: Third Iberian Robotics Conference by : Anibal Ollero
Download or read book ROBOT 2017: Third Iberian Robotics Conference written by Anibal Ollero and published by Springer. This book was released on 2017-11-10 with total page 913 pages. Available in PDF, EPUB and Kindle. Book excerpt: These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.
Book Synopsis Field and Service Robotics by : Alonzo Kelly
Download or read book Field and Service Robotics written by Alonzo Kelly and published by Springer Science & Business Media. This book was released on 2010-06-28 with total page 497 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human en- ronments and vigorously engaged in its new challenges. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has p- duced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the int- section of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dissemination of critical - search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and c- tribute to further advancements in this rapidly growing field.
