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Computational principles of mobile robotics
Gregory Dudek,Michael Jenkin +1 more
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In this article, the authors present a comprehensive treatment of state-of-the-art methods and key technologies in the field of mobile robotics, focusing on wheeled and legged mobile robots.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
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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.
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.
Journal ArticleDOI
On the feasibility of using wireless ethernet for indoor localization
TL;DR: It is demonstrated that off-the-shelf hardware can accurately be used for location sensing and real-time tracking by applying a Bayesian localization framework.
Journal ArticleDOI
Map-based navigation in mobile robots
David Filliat,Jean-Arcady Meyer +1 more
TL;DR: The allothetic and idiothetic sensors that may be used by these robots to build internal representations of their environment, and the maps in which these representations may be instantiated, are first described.