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Focuses on acquiring spatial models of physical environments through mobile robots The robotic mapping problem is commonly referred to as SLAM (simultaneous localization and mapping). 3D maps are necessary to avoid collisions with complex obstacles and to self-localize in six degrees of freedom (x-, y-, z-position, roll, yaw and pitch angle) New solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented
Semantic 3D Object Maps for Everyday Robot Manipulation by Radu Bogdan Rusu Pdf
The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks. The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as a frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://pointclouds.org.
Robotic Mapping and Exploration by Cyrill Stachniss Pdf
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Robot Navigation from Nature by Michael John Milford Pdf
This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.
Exploring Artificial Intelligence in the New Millennium by Gerhard Lakemeyer,Bernhard Nebel Pdf
This guide is a unique presentation of the spectrum of ongoing research in Artificial Intelligence. An ideal collection for personal reference or for use in introductory courses in AI and its subfields, "Exploring Artificial Intelligence in the New Millennium" is essential reading for anyone interested in the intellectual and technological challenges of AI.
SLAM Techniques Application for Mobile Robot in Rough Terrain by Andrii Kudriashov,Tomasz Buratowski,Mariusz Giergiel,Piotr Małka Pdf
This book presents the development of SLAM-based mobile robot control systems as an integrated approach that combines the localization, mapping and motion control fields, and reviews several techniques that represent the basics of the mathematical description of wheeled robots, their navigation and path planning approaches, localization and map creating techniques. It examines SLAM paradigms and Bayesian recursive state and map estimation techniques, which include Kalman and particle filtering, and enable the development of a SLAM-based integrated system for the inspection task performed. The system’s development is divided into two phases: a single-robot approach and multirobot inspection system. The book describes an original approach to 2D SLAM in multi-floor buildings that covers each 2D level map, as well as continuous 3D pose tracking, and views the multirobot inspection system as a group of homogeneous mobile robots. The last part of the book is dedicated to multirobot map creation and the development of path planning solutions, which allow the robots’ homogeneous behavior and configuration to be used to develop a multirobot system without theoretical limitations on the number of robots used.
Mapping, Planning and Exploration with Pose SLAM by Rafael Valencia,Juan Andrade-Cetto Pdf
This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.
Discrete Geometry for Computer Imagery by Eric Andres Pdf
This book constitutes the refereed proceedings of the 12th International Conference on Discrete Geometry for Computer Imagery, DGCI 2005, held in Poitiers, France in April 2005. The 36 revised full papers presented together with an invited paper were carefully reviewed and selected from 53 submissions. The papers are organized in topical sections on applications, discrete hierarchical geometry, discrete tomography, discrete topology, object properties, reconstruction and recognition, uncertain geometry, and visualization.
Probabilistic Robotics by Sebastian Thrun,Wolfram Burgard,Dieter Fox Pdf
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.
Random Finite Sets for Robot Mapping & SLAM by John Stephen Mullane,Ba-Ngu Vo,Martin David Adams,Ba-Tuong Vo Pdf
The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.
RoboCup 2005: Robot Soccer World Cup IX by Ansgar Bredenfeld,Adam Jacoff,Itsuki Noda,Yasutake Takahashi Pdf
This book constitutes the ninth official archival publication devoted to RoboCup, documenting presentations at the RoboCup 2005 International Symposium, held in Osaka, Japan, July 2005 alongside the RoboCup Competition. The book presents 34 revised full papers and 38 revised short papers together with two award-winning papers. This is a valuable source of reference and inspiration for those interested in robotics or distributed intelligence, and mandatory reading for the rapidly growing RoboCup community.
Spatial Representation and Reasoning for Robot Mapping by Diedrich Wolter Pdf
This book demonstrates bene?ts of abstract and qualitative reasoning that have not received much attention in the context of autonomous robotics before. Bremen, Christian Freksa December 2007 Director of the SFB/TR 8 Spatial Cognition Preface This book addresses spatial representations and reasoning techniques for - bile robot mapping, providing an analysis of fundamental representations and processes involved. A spatial representation based on shape information is p- posed and shape analysis techniques are developed to tackle the correspondence problem in robot mapping. A general mathematical formulation is presented to provide the formal ground for an e?cient matching of con?gurations of objects. This book is a slightly revised version of my doctoral thesis submitted to the Faculty of Mathematics and Computer Science of the University of Bremen, Germany. Manycontributeto the developmentofa dissertation,butsomeofthemstand out. Christian Freksa, I thank you for supporting and encouraging my work, for introducing me to interdisciplinary work, for giving me the freedom to develop this dissertation, and for providing an enjoyable atmosphere to work in. Longin Jan Latecki, thank you for countless in-depth discussions helping me to develop andtopositionmywork,forthefruitfulcollaboration,andformakingaresearch stay possible that has been very valuable to me. I thank the research groups in Bremen and Philadelphia for helpful discussions and feedback, in particular Jan Oliver Wallgrun. ̈ I also thank Kai-Florian Richter, Sven Bertel, and Lutz Frommberger for feedback on this work. Robert Ross, thank you for helping to proof-read this dissertation.
Experimental Robotics IX by Marcelo H. Ang,Oussama Khatib Pdf
The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also verified experimentally. It collects contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the Ninth ISER held in Singapore.
Autonomous Mobile Mapping Robots by Janusz Bedkowski Pdf
This book presents recent research advances in autonomous mobile mapping robots, covering a range of topics. These include unconventional trajectories for mobile 3D scanning, key software components such as lidar odometry, look closure, pose graph SLAM, map refinement, path planning, and coverage algorithms. The book also explores multi-robot mapping and scalable algorithms for simultaneous localization and mapping. Finally, it delves into real-world applications like aerial 3D mapping and automotive SLAM in urban environments.
Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods by Fernández-Madrigal, Juan-Antonio Pdf
As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.
