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 : 2024-01-31
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 2024-01-31 with Computers categories.
This modern look at state estimation now covers variational inference, adaptive covariance estimation, and inertial navigation.
State Estimation For Robotics
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Author : Timothy D. Barfoot
language : en
Publisher: Cambridge University Press
Release Date : 2024-01-31
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 2024-01-31 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.
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.
Multimodal Perception And Secure State Estimation For Robotic Mobility Platforms
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Author : Xinghua Liu
language : en
Publisher: John Wiley & Sons
Release Date : 2022-09-21
Multimodal Perception And Secure State Estimation For Robotic Mobility Platforms written by Xinghua Liu 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 2022-09-21 with Technology & Engineering categories.
Multimodal Perception and Secure State Estimation for Robotic Mobility Platforms Enables readers to understand important new trends in multimodal perception for mobile robotics This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. It thoroughly evaluates filter-based secure dynamic pose estimation approaches for autonomous vehicles over multiple attack signals and shows that they outperform conventional Kalman filtered results. As a modern learning resource, it contains extensive simulative and experimental results that have been successfully implemented on various models and real platforms. To aid in reader comprehension, detailed and illustrative examples on algorithm implementation and performance evaluation are also presented. Written by four qualified authors in the field, sample topics covered in the book include: Secure state estimation that focuses on system robustness under cyber-attacks Multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors A geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, which has been validated using public and self-collected data How to achieve real-time road-constrained and heading-assisted pose estimation This book will appeal to graduate-level students and professionals in the fields of ground vehicle pose estimation and perception who are looking for modern and updated insight into key concepts related to the field of robotic mobility platforms.
State Estimation Planning And Behavior Selection Under Uncertainty For Autonomous Robotic Exploration In Dynamic Environments
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Author : Georgios Lidoris
language : en
Publisher: kassel university press GmbH
Release Date : 2011
State Estimation Planning And Behavior Selection Under Uncertainty For Autonomous Robotic Exploration In Dynamic Environments written by Georgios Lidoris and has been published by kassel university press GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with Autonomous robots categories.
Modeling Control State Estimation And Path Planning Methods For Autonomous Multirotor Aerial Robots
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Author : Christos Papachristos
language : en
Publisher:
Release Date : 2018
Modeling Control State Estimation And Path Planning Methods For Autonomous Multirotor Aerial Robots written by Christos Papachristos and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with Autonomous robots categories.
This review paper aims to provide an overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. Further discussion for other applications of aerial robots concludes this manuscript.
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.
Robotics
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Author : Nicholas Roy
language : en
Publisher: MIT Press
Release Date : 2013-07-05
Robotics written by Nicholas Roy and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-07-05 with Computers categories.
Robotics: Science and Systems VIII spans a wide spectrum of robotics, bringing together contributions from researchers working on the mathematical foundations of robotics, robotics applications, and analysis of robotics systems.
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.