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Simultaneous Localization And Mapping For Mobile Robots Introduction And Methods
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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 499 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 Simultaneous Localization and Mapping for Mobile Robots by : Juan-Antonio Fernández-Madrigal
Download or read book Simultaneous Localization and Mapping for Mobile Robots written by Juan-Antonio Fernández-Madrigal and published by . This book was released on 2013 with total page 483 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This book investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments"--
Book Synopsis Simultaneous Localization and Mapping for Mobile Robots by : Juan-Antonio Fernández-Madrigal
Download or read book Simultaneous Localization and Mapping for Mobile Robots written by Juan-Antonio Fernández-Madrigal and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "This book investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments"--
Book Synopsis Vision Based Autonomous Robot Navigation by : Amitava Chatterjee
Download or read book Vision Based Autonomous Robot Navigation written by Amitava Chatterjee and published by Springer. This book was released on 2012-10-13 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book describes successful implementation of integration of low-cost, external peripherals, with off-the-shelf procured robots. An important highlight of the book is that it presents a detailed, step-by-step sample demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. The book also discusses the concept of implementing vision based SLAM employing a two camera based system.
Book Synopsis Robotics and Cognitive Approaches to Spatial Mapping by : Margaret E. Jefferies
Download or read book Robotics and Cognitive Approaches to Spatial Mapping written by Margaret E. Jefferies and published by Springer Science & Business Media. This book was released on 2008-01-10 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: This important work is an attempt to synthesize two areas that need to be treated in tandem. The book brings together the fields of robot spatial mapping and cognitive spatial mapping, which share some common core problems. One would expect some cross-fertilization of research between the two areas to have occurred, yet this has begun only recently. There are now signs that some synthesis is happening, so this work is a timely one for students and engineers in robotics.
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 Introduction to Mobile Robot Control by : Spyros G Tzafestas
Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 750 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Book Synopsis Elements of Robotics by : Mordechai Ben-Ari
Download or read book Elements of Robotics written by Mordechai Ben-Ari and published by Springer. This book was released on 2017-10-25 with total page 311 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book bridges the gap between playing with robots in school and studying robotics at the upper undergraduate and graduate levels to prepare for careers in industry and research. Robotic algorithms are presented formally, but using only mathematics known by high-school and first-year college students, such as calculus, matrices and probability. Concepts and algorithms are explained through detailed diagrams and calculations. Elements of Robotics presents an overview of different types of robots and the components used to build robots, but focuses on robotic algorithms: simple algorithms like odometry and feedback control, as well as algorithms for advanced topics like localization, mapping, image processing, machine learning and swarm robotics. These algorithms are demonstrated in simplified contexts that enable detailed computations to be performed and feasible activities to be posed. Students who study these simplified demonstrations will be well prepared for advanced study of robotics. The algorithms are presented at a relatively abstract level, not tied to any specific robot. Instead a generic robot is defined that uses elements common to most educational robots: differential drive with two motors, proximity sensors and some method of displaying output to the user. The theory is supplemented with over 100 activities, most of which can be successfully implemented using inexpensive educational robots. Activities that require more computation can be programmed on a computer. Archives are available with suggested implementations for the Thymio robot and standalone programs in Python.
Download or read book Mobile Robotics written by Alonzo Kelly and published by Cambridge University Press. This book was released on 2013-11-11 with total page 717 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
Book Synopsis Environment Learning for Indoor Mobile Robots by : Juan Andrade Cetto
Download or read book Environment Learning for Indoor Mobile Robots written by Juan Andrade Cetto and published by Springer Tracts in Advanced Robotics. This book was released on 2006-05-22 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM. The authors show that the typical approach to SLAM using a Kalman filter results in marginal filter stability, making the final reconstruction estimates dependant on the initial vehicle estimates. However, by anchoring the map to a fixed landmark in the scene, they are able to attain full observability in SLAM, with reduced covariance estimates. This result earned the first author the EURON Georges Giralt Best PhD Award in its fourth edition, and has prompted the SLAM community to think in new ways to approach the mapping problem. For example, by creating local maps anchored on a landmark, or on the robot initial estimate itself, and then using geometric relations to fuse local maps globally. This monograph is appropriate as a text for an introductory estimation-theoretic approach to the SLAM problem, and as a reference book for people who work in mobile robotics research in general. Juan Andrade Cetto holds a BSEE degree from CETYS University, 1993; an MSEE degree from Purdue University, 1995; and a doctorate from the Technical University of Catalonia, 2003. He is currently with the Institut the Robòtica i Informàtica Industrial, CSIC-UPC. Alberto Sanfeliu received the BSEE and PhD degrees from the Technical University of Catalonia in 1978 and 1982, respectively. He joined the UPC faculty in 1981, and is since 1984, Professor with the Systems Engineering Department, for which he was appointed Head in 2005. Dr. Sanfeliu is also affiliated to the Institut the Robòtica i Informàtica Industrial, CSIC-UPC. His current research areas are Pattern Recognition, Computer Vision, and Robotics. He is Fellow of IAPR.
Download or read book FastSLAM written by Michael Montemerlo and published by Springer. This book was released on 2007-04-27 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
Book Synopsis Simultaneous Localization and Mapping by : Zhan Wang
Download or read book Simultaneous Localization and Mapping written by Zhan Wang and published by World Scientific. This book was released on 2011-05-31 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments. Contents:IntroductionSparse Information Filters in SLAMDecoupling Localization and MappingD-SLAM Local Map Joining FilterSparse Local Submap Joining Filter Readership: Researchers, academics, and graduate students in robotics and automated systems. Keywords:Simultaneous Localization and Mapping (SLAM);Extended Information Filter (EIF);Sparseness
Book Synopsis Introduction to Autonomous Mobile Robots, second edition by : Roland Siegwart
Download or read book Introduction to Autonomous Mobile Robots, second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Book Synopsis Computational Principles of Mobile Robotics by : Gregory Dudek
Download or read book Computational Principles of Mobile Robotics written by Gregory Dudek and published by Cambridge University Press. This book was released on 2024-01-31 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: Now in its third edition, this textbook is a comprehensive introduction to the multidisciplinary field of mobile robotics, which lies at the intersection of artificial intelligence, computational vision, and traditional robotics. Written for advanced undergraduates and graduate students in computer science and engineering, the book covers algorithms for a range of strategies for locomotion, sensing, and reasoning. The new edition includes recent advances in robotics and intelligent machines, including coverage of human-robot interaction, robot ethics, and the application of advanced AI techniques to end-to-end robot control and specific computational tasks. This book also provides support for a number of algorithms using ROS 2, and includes a review of critical mathematical material and an extensive list of sample problems. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.
Book Synopsis Probabilistic Robotics by : Sebastian Thrun
Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. 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.
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 Science & Business Media. This book was released on 2009-04-27 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 Robot Navigation from Nature by : Michael John Milford
Download or read book Robot Navigation from Nature written by Michael John Milford and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 203 pages. Available in PDF, EPUB and Kindle. Book excerpt: This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.
