Journal ArticleDOI
Computational Principles of Mobile Robotics
Gregory Dudek,Michael Jenkin +1 more
TLDR
This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning in mobile robots, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems.Abstract:
Mobile robotics is a multidisciplinary field involving both computer science and engineering. Addressing the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. 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. The new edition includes advances in robotics and intelligent machines over the last ten years, 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.read more
Citations
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Proceedings ArticleDOI
Practical robust localization over large-scale 802.11 wireless networks
Andreas Haeberlen,Eliot John Flannery,Andrew M. Ladd,Algis Rudys,Dan S. Wallach,Lydia E. Kavraki +5 more
TL;DR: The system is sufficiently robust to enable a variety of location-aware applications without requiring special-purpose hardware or complicated training and calibration procedures, and can be adapted to work with previously unknown user hardware.
Proceedings ArticleDOI
Robotics-based location sensing using wireless ethernet
Andrew M. Ladd,Kostas E. Bekris,Algis Rudys,Guillaume Marceau,Lydia E. Kavraki,Dan S. Wallach +5 more
TL;DR: It is shown that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.
Book
State Estimation for Robotics
TL;DR: In this paper, the authors present common sensor models and practical advice on how to carry out state estimation for rotations and other state variables, including batch estimation, the Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection and continuous-time trajectory estimation.
Journal ArticleDOI
Robotics-based location sensing using wireless Ethernet
TL;DR: By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, it is shown that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.
References
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Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.