State Estimation For Robotics
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State Estimation For Robotics
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Author : Timothy D. Barfoot
language : en
Publisher: Cambridge University Press
Release Date : 2024-02-01
State Estimation For Robotics written by Timothy D. Barfoot and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-02-01 with Computers categories.
A key aspect of robotics today is estimating the state (e.g., position and orientation) of a robot, based on noisy sensor data. This book targets students and practitioners of robotics by presenting classical state estimation methods (e.g., the Kalman filter) but also important modern topics such as batch estimation, Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. Since most robots operate in a three-dimensional world, common sensor models (e.g., camera, laser rangefinder) are provided followed by practical advice on how to carry out state estimation for rotational state variables. The book covers robotic applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Highlights of this expanded second edition include a new chapter on variational inference, a new section on inertial navigation, more introductory material on probability, and a primer on matrix calculus.
Probabilistic Robotics
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Author : Sebastian Thrun
language : en
Publisher: MIT Press
Release Date : 2005-08-19
Probabilistic Robotics written by Sebastian Thrun and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-08-19 with Technology & Engineering categories.
An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
Optimal State Estimation
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Author : Dan Simon
language : en
Publisher: John Wiley & Sons
Release Date : 2006-06-19
Optimal State Estimation written by Dan Simon and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-06-19 with Technology & Engineering categories.
A bottom-up approach that enables readers to master and apply the latest techniques in state estimation This book offers the best mathematical approaches to estimating the state of a general system. The author presents state estimation theory clearly and rigorously, providing the right amount of advanced material, recent research results, and references to enable the reader to apply state estimation techniques confidently across a variety of fields in science and engineering. While there are other textbooks that treat state estimation, this one offers special features and a unique perspective and pedagogical approach that speed learning: * Straightforward, bottom-up approach begins with basic concepts and then builds step by step to more advanced topics for a clear understanding of state estimation * Simple examples and problems that require only paper and pen to solve lead to an intuitive understanding of how theory works in practice * MATLAB(r)-based source code that corresponds to examples in the book, available on the author's Web site, enables readers to recreate results and experiment with other simulation setups and parameters Armed with a solid foundation in the basics, readers are presented with a careful treatment of advanced topics, including unscented filtering, high order nonlinear filtering, particle filtering, constrained state estimation, reduced order filtering, robust Kalman filtering, and mixed Kalman/H? filtering. Problems at the end of each chapter include both written exercises and computer exercises. Written exercises focus on improving the reader's understanding of theory and key concepts, whereas computer exercises help readers apply theory to problems similar to ones they are likely to encounter in industry. With its expert blend of theory and practice, coupled with its presentation of recent research results, Optimal State Estimation is strongly recommended for undergraduate and graduate-level courses in optimal control and state estimation theory. It also serves as a reference for engineers and science professionals across a wide array of industries.
Robotics
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Author : Hugh Durrant-Whyte
language : en
Publisher: MIT Press
Release Date : 2012-06-29
Robotics written by Hugh Durrant-Whyte and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-06-29 with Technology & Engineering categories.
Papers from a flagship conference reflect the latest developments in the field, including work in such rapidly advancing areas as human-robot interaction and formal methods. Robotics: Science and Systems VII spans a wide spectrum of robotics, bringing together researchers working on the algorithmic or mathematical foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the seventh annual Robotics: Science and Systems conference, held in 2011 at the University of Southern California. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.
Autonomous Robot Vehicles
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Author : Ingemar J. Cox
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Autonomous Robot Vehicles written by Ingemar J. Cox and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.
State Estimation For Robotics
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Author : Timothy D. Barfoot
language : en
Publisher:
Release Date : 2017
State Estimation For Robotics written by Timothy D. Barfoot and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
State Estimation For Robotics
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Author : Timothy D. Barfoot
language : en
Publisher: Cambridge University Press
Release Date : 2017-07-31
State Estimation For Robotics written by Timothy D. Barfoot and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-31 with Computers categories.
A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Mobile Robotics
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Author : Luc Jaulin
language : en
Publisher: John Wiley & Sons
Release Date : 2019-09-20
Mobile Robotics written by Luc Jaulin and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-20 with Technology & Engineering categories.
Mobile Robotics presents the different tools and methods that enable the design of mobile robots; a discipline booming with the emergence of flying drones, underwater mine-detector robots, robot sailboats and vacuum cleaners. Illustrated with simulations, exercises and examples, this book describes the fundamentals of modeling robots, developing the concepts of actuators, sensors, control and guidance. Three-dimensional simulation tools are also explored, as well as the theoretical basis for the reliable localization of robots within their environment. This revised and updated edition contains additional exercises and a completely new chapter on the Bayes filter, an observer that enhances our understanding of the Kalman filter and facilitates certain proofs.
Mobile Robots In Rough Terrain
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Author : Karl Iagnemma
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-07-08
Mobile Robots In Rough Terrain written by Karl Iagnemma and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-07-08 with Technology & Engineering categories.
This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.
Learning For Adaptive And Reactive Robot Control
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Author : Aude Billard
language : en
Publisher: MIT Press
Release Date : 2022-02-08
Learning For Adaptive And Reactive Robot Control written by Aude Billard and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-02-08 with Technology & Engineering categories.
Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.