{"@context":{"owl":"http://www.w3.org/2002/07/owl#","bibo":"http://purl.org/ontology/bibo/","foaf":"http://xmlns.com/foaf/0.1/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/"},"@id":"https://ci.nii.ac.jp/ncid/BC04338710.json","@graph":[{"@id":"https://ci.nii.ac.jp/ncid/BC04338710#entity","@type":"bibo:Book","foaf:isPrimaryTopicOf":{"@id":"https://ci.nii.ac.jp/ncid/BC04338710.json"},"dc:title":[{"@value":"SLAM techniques application for mobile robot in rough terrain"}],"dc:creator":"Andrii Kudriashov, Tomasz Buratowski, Mariusz Giergiel, Piotr Małka","dc:publisher":[{"@value":"Springer"}],"dcterms:extent":"ix, 131 p.","cinii:size":"25 cm","dc:language":"eng","dc:date":"2020","cinii:ncid":"BC04338710","cinii:ownerCount":"2","foaf:maker":[{"@type":"foaf:Person","foaf:name":[{"@value":"Kudriashov, Andrii"}]},{"@type":"foaf:Person","foaf:name":[{"@value":"Buratowski, Tomasz"}]},{"@type":"foaf:Person","foaf:name":[{"@value":"Giergiel, Mariusz"}]},{"@type":"foaf:Person","foaf:name":[{"@value":"Małka, Piotr"}]}],"bibo:owner":[{"@id":"https://ci.nii.ac.jp/library/FA022153","@type":"foaf:Organization","foaf:name":"東京大学 柏図書館","rdfs:seeAlso":{"@id":"https://opac.dl.itc.u-tokyo.ac.jp/opac/opac_openurl/?ncid=BC04338710"}},{"@id":"https://ci.nii.ac.jp/library/FA028557","@type":"foaf:Organization","foaf:name":"東京情報デザイン専門職大学 附属図書館","rdfs:seeAlso":{"@id":"https://lib-finder.net/tid/search?ncid=BC04338710"}}],"prism:publicationDate":["c2020"],"cinii:note":["Includes bibliographical references"],"dc:subject":["LCC:TJ211.415","DC23:629.8/932"],"cinii:contentOfWorks":["Intro","Preface","Contents","1 Introduction","1.1 Motivation","1.2 Book Statement","1.3 Aim and Scope","References","2 Introduction to Mobile Robots Navigation, Localization and Mapping","2.1 Introduction","2.2 Mathematical Description of Mobile Robots","2.2.1 Holonomic and Non-holonomic Mobile Robots","2.2.2 Kinematics","2.2.3 Dynamics","2.3 Terrain Mapping","2.3.1 Topological Maps","2.3.2 Metric Maps","2.4 Mobile Robot's Navigation","2.4.1 Path Planning","2.4.2 Bug Algorithms","2.4.3 Geometry-Based Roadmaps","2.4.4 Sampling-Based Roadmaps","2.4.5 Potential Field Path Planning","2.5 Robots Localization","2.5.1 Odometry","2.5.2 Inertial Navigation","2.5.3 Visual and Laser Odometry","2.5.4 Active Beacon Localization","2.6 Summary","References","3 SLAM as Probabilistic Robotics Framework Approach","3.1 Introduction","3.2 Motion and Observation Models","3.2.1 Motion Model","3.2.2 Observation Model","3.3 Localization Estimation","3.3.1 Markov Localization","3.3.2 Particle Filters","3.3.3 Kalman Filters","3.4 Map Estimation","3.4.1 Occupancy Grid","3.5 Simultaneous Localization and Mapping (SLAM)","3.5.1 SLAM Problem Definition","3.5.2 EKF-SLAM","3.5.3 Particle Filter SLAM","3.5.4 Graph-Based SLAM","3.6 Summary","References","4 Multi-agent SLAM-Based Inspection System for Rough Terrain","4.1 Introduction","4.2 Group of Mobile Robots","4.2.1 Introduction to Multiagent Systems","4.2.2 Multirobot Path Planning","4.3 SLAM-Based Robot Inspection Approach","4.3.1 Pose Tracking","4.3.2 Mapping","4.4 SLAM for Mobile Robots Group","4.4.1 Multiagent Localization and Mapping","4.5 Summary","References","5 Evaluation","5.1 Introduction","5.2 Simulation Verification","5.2.1 Introduction","5.2.2 V-REP Models and Integration with ROS Applications","5.2.3 Plane Terrain Workspace Scene","5.2.4 Plane Terrain Advanced Workspace Scene","5.2.5 Rough Terrain Workspace Scene","5.2.6 Multirobot Exploration","5.3 Environmental Experiments","5.3.1 Introduction","5.3.2 Underground Inspection in Mine-Like Rough Terrain","5.4 Summary","References","6 Conclusions and Future Work Discussion","6.1 Conclusions Discussion","6.2 Future Work Discussion","Reference"],"foaf:topic":[{"@id":"https://ci.nii.ac.jp/books/search?q=Mobile+robots","dc:title":"Mobile robots"},{"@id":"https://ci.nii.ac.jp/books/search?q=Mobile+robots+--+Control","dc:title":"Mobile robots -- Control"}],"dcterms:isPartOf":[{"@id":"https://ci.nii.ac.jp/ncid/BB12377787#entity","dc:title":"Mechanisms and machine science / series editor, Marco Ceccarelli, v. 87","@type":"bibo:Book"}],"dcterms:hasPart":[{"@id":"urn:isbn:9783030489809"}]}]}