Computational principles of mobile robotics

著者

書誌事項

Computational principles of mobile robotics

Gregory Dudek, Michael Jenkin

Cambridge University Press, 2010

2nd ed

  • : pbk
  • : hbk.

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注記

Previous ed.: 2000

Includes bibliographical references (p. [353]-380) and index

内容説明・目次

内容説明

This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but discusses a variety of other propulsion systems. This edition includes advances in robotics and intelligent machines over the ten years prior to publication, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained. 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.

目次

  • 1. Overview and motivation
  • 2. Fundamental problems
  • Part I. Locomotion and Perception: 3. Mobile robot hardware
  • 4. Non-visual sensors and algorithms
  • 5. Visual sensors and algorithms
  • Part II. Representation and Planning: 6. Representing and reasoning about space
  • 7. System control
  • 8. Pose maintenance and localization
  • 9. Mapping and related tasks
  • 10. Robot collectives
  • 11. Robots in practice
  • 12. The future of mobile robotics
  • Appendix A. Probability and statistics
  • Appendix B. Linear systems, matrices and filtering
  • Appendix C. Markov models.

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