Handling uncertainty and networked structure in robot control
著者
書誌事項
Handling uncertainty and networked structure in robot control
（Studies in systems, decision and control / series editor Janusz Kacprzyk, v. 42）
Springer, c2015
- : hardcover
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注記
Includes bibliographical references
内容説明・目次
内容説明
This
book focuses on two challenges posed in robot control by the increasing
adoption of robots in the everyday human environment: uncertainty and networked
communication. Part
I of the book describes learning control to address environmental uncertainty.
Part II discusses state estimation, active sensing, and complex scenario
perception to tackle sensing uncertainty. Part III
completes the book with control of networked robots and multi-robot teams.
Each chapter features in-depth technical coverage and case studies
highlighting the applicability of the techniques, with real robots or in
simulation. Platforms include mobile ground, aerial, and underwater robots, as
well as humanoid robots and robot arms. Source code and experimental data are
available at http://extras.springer.com.
The text gathers contributions from academic and industry experts,
and offers a valuable resource for researchers or graduate students in robot
control and perception. It also benefits researchers in related areas, such as
computer vision, nonlinear and learning control, and multi-agent systems.
目次
Part I Learning Control in Unknown Environments.- Robot Learning for Persistent Autonomy.- The Explore-Exploit Dilemma in Nonstationary Decision Making under Uncertainty.- Learning Complex Behaviors via Sequential Composition and Passivity-based Control.- Visuospatial Skill Learning.- Part II Dealing with Sensing Uncertainty.- Observer Design for Robot Manipulators via Takagi-Sugeno Models and Linear Matrix Inequalities.- Homography Estimation between Omnidirectional Cameras without Point Correspondences.- Dynamic environment perception and 4D reconstruction using a mobile Rotating Multi-beam Lidar sensor.- ROBOSHERLOCK: Unstructured Information Processing for Robot Perception.- Active SLAM : Problem Overview and an Application to Navigation Under Uncertainty.- Interactive Segmentation of Textured and Textureless Objects.- Part III Control of Networked and Interconnected Robots.- Vision-based quadcopter navigation in structured environments.- Bilateral Teleoperation the Presence of Jitter: Communication Performance Evaluation and Control.- Implementation of consensus algorithms under harsh communication constraints.- Hybrid Consensus-based Formation Control of Nonholonomic Mobile Robots.- A Multi Agent System for Precision Agriculture.
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