Approaches To Probabilistic Model Learning For Mobile Manipulation Robots
Approaches To Probabilistic Model Learning For Mobile Manipulation Robots Book in PDF, ePub and Kindle version is available to download in english. Read online anytime anywhere directly from your device. Click on the download button below to get a free pdf file of Approaches To Probabilistic Model Learning For Mobile Manipulation Robots book. This book definitely worth reading, it is an incredibly well-written.
Approaches to Probabilistic Model Learning for Mobile Manipulation Robots by Jürgen Sturm Pdf
This book presents techniques that enable mobile manipulation robots to autonomously adapt to new situations. Covers kinematic modeling and learning; self-calibration; tactile sensing and object recognition; imitation learning and programming by demonstration.
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.
Visual Attributes by Rogerio Schmidt Feris,Christoph Lampert,Devi Parikh Pdf
This unique text/reference provides a detailed overview of the latest advances in machine learning and computer vision related to visual attributes, highlighting how this emerging field intersects with other disciplines, such as computational linguistics and human-machine interaction. Topics and features: presents attribute-based methods for zero-shot classification, learning using privileged information, and methods for multi-task attribute learning; describes the concept of relative attributes, and examines the effectiveness of modeling relative attributes in image search applications; reviews state-of-the-art methods for estimation of human attributes, and describes their use in a range of different applications; discusses attempts to build a vocabulary of visual attributes; explores the connections between visual attributes and natural language; provides contributions from an international selection of world-renowned scientists, covering both theoretical aspects and practical applications.
Nonlinear Gaussian Filtering : Theory, Algorithms, and Applications by Huber, Marco Pdf
By restricting to Gaussian distributions, the optimal Bayesian filtering problem can be transformed into an algebraically simple form, which allows for computationally efficient algorithms. Three problem settings are discussed in this thesis: (1) filtering with Gaussians only, (2) Gaussian mixture filtering for strong nonlinearities, (3) Gaussian process filtering for purely data-driven scenarios. For each setting, efficient algorithms are derived and applied to real-world problems.
Learning for Adaptive and Reactive Robot Control by Aude Billard,Sina Mirrazavi,Nadia Figueroa Pdf
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.
Mobile Robotics: A Practical Introduction by Ulrich Nehmzow Pdf
This book is an introduction to the foundations and methods used for designing completely autonomous mobile robots. Readers are introduced to the fundamental concepts of mobile robotics via twelve detailed case studies which show how to build and program real working robots. The book provides a very practical introduction to mobile robotics for a general scientific audience, and is essential reading for practitioners and students working in robotics, artificial intelligence, cognitive science and robot engineering.
Towards Service Robots for Everyday Environments by Erwin Prassler,Rainer Bischoff,Wolfram Burgard,Robert Haschke,Martin Hägele,Gisbert Lawitzky,Bernhard Nebel,Paul Plöger,Ulrich Reiser,Marius Zöllner Pdf
People have dreamed of machines, which would free them from unpleasant, dull, dirty and dangerous tasks and work for them as servants, for centuries if not millennia. Service robots seem to finally let these dreams come true. But where are all these robots that eventually serve us all day long, day for day? A few service robots have entered the market: domestic and professional cleaning robots, lawnmowers, milking robots, or entertainment robots. Some of these robots look more like toys or gadgets rather than real robots. But where is the rest? This is a question, which is asked not only by customers, but also by service providers, care organizations, politicians, and funding agencies. The answer is not very satisfying. Today’s service robots have their problems operating in everyday environments. This is by far more challenging than operating an industrial robot behind a fence. There is a comprehensive list of technical and scientific problems, which still need to be solved. To advance the state of the art in service robotics towards robots, which are capable of operating in an everyday environment, was the major objective of the DESIRE project (Deutsche Service Robotik Initiative – Germany Service Robotics Initiative) funded by the German Ministry of Education and Research (BMBF) under grant no. 01IME01A. This book offers a sample of the results achieved in DESIRE.
The contributions in Toward Learning Robots address the question of how a robot can be designed to acquire autonomously whatever it needs to realize adequate behavior in a complex environment. In-depth discussions of issues, techniques, and experiments in machine learning focus on improving ease of programming and enhancing robustness in unpredictable and changing environments, given limitations of time and resources available to researchers. The authors show practical progress toward a useful set of abstractions and techniques to describe and automate various aspects of learning in autonomous systems. The close interaction of such a system with the world reveals opportunities for new architectures and learning scenarios and for grounding symbolic representations, though such thorny problems as noise, choice of language, abstraction level of representation, and operationality have to be faced head-on. Contents Introduction: Toward Learning Robots * Learning Reliable Manipulation Strategies without Initial Physical Models * Learning by an Autonomous Agent in the Pushing Domain * A Cost-Sensitive Machine Learning Method for the Approach and Recognize Task * A Robot Exploration and Mapping Strategy Based on a Semantic Hierarchy of Spatial Representations * Understanding Object Motion: Recognition, Learning and Spatiotemporal Reasoning * Learning How to Plan * Robo-Soar: An Integration of External Interaction, Planning, and Learning Using Soar * Foundations of Learning in Autonomous Agents * Prior Knowledge and Autonomous Learning
Latest Advances in Inductive Logic Programming by Stephen H Muggleton,Hiroaki Watanabe Pdf
This book represents a selection of papers presented at the Inductive Logic Programming (ILP) workshop held at Cumberland Lodge, Great Windsor Park. The collection marks two decades since the first ILP workshop in 1991. During this period the area has developed into the main forum for work on logic-based machine learning. The chapters cover a wide variety of topics, ranging from theory and ILP implementations to state-of-the-art applications in real-world domains. The international contributors represent leaders in the field from prestigious institutions in Europe, North America and Asia. Graduate students and researchers in this field will find this book highly useful as it provides an up-to-date insight into the key sub-areas of implementation and theory of ILP. For academics and researchers in the field of artificial intelligence and natural sciences, the book demonstrates how ILP is being used in areas as diverse as the learning of game strategies, robotics, natural language understanding, query search, drug design and protein modelling. Contents:Applications:Can ILP Learn Complete and Correct Game Strategies? (Stephen H Muggleton and Changze Xu)Induction in Nonmonotonic Causal Theories for a Domestic Service Robot (Jianmin Ji and Xiaoping Chen)Using Ontologies in Semantic Data Mining with g-SEGS and Aleph (Anže Vavpetič and Nada Lavră)Improving Search Engine Query Expansion Techniques with ILP (José Carlos Almeida Santos and Manuel Fonseca de Sam Bento Ribeiro)ILP for Cosmetic Product Selection (Hiroyuki Nishiyama and Fumio Mizoguchi)Learning User Behaviours in Real Mobile Domains (Andreas Markitanis, Domenico Corapi, Alessandra Russo and Emil C Lupu)Discovering Ligands for TRP Ion Channels Using Formal Concept Analysis (Mahito Sugiyama, Kentaro Imajo, Keisuke Otaki and Akihiro Yamamoto)Predictive Learning in Two-Way Datasets (Beau Piccart, Hendrik Blockeel, Andy Georges and Lieven Eeckhout)Model of Double-Strand Break of DNA in Logic-Based Hypothesis Finding (Barthelemy Dworkin, Andrei Doncescu, Jean-Charles Faye and Katsumi Inoue)Probabilistic Logical Learning:The PITA System for Logical-Probabilistic Inference (Fabrizio Riguzzi and Terrance Swift)Learning a Generative Failure-Free PRISM Clause (Waleed Alsanie and James Cussens)Statistical Relational Learning of Object Affordances for Robotic Manipulation (Bogdan Moldovan, Martijn van Otterlo, Plinio Moreno, José Santos-Victor and Luc De Raedt)Learning from Linked Data by Markov Logic (Man Zhu and Zhiqiang Gao)Satisfiability Machines (Filip Železný)Implementations:Customisable Multi-Processor Acceleration of Inductive Logic Programming (Andreas K Fidjeland, Wayne Luk and Stephen H Muggleton)Multivalue Learning in ILP (Orlando Muoz Texzocotetla and Ren Mac Kinney Romero)Learning Dependent-Concepts in ILP: Application to Model-Driven Data Warehouses (Moez Essaidi, Aomar Osmani and Céline Rouveirol)Graph Contraction Pattern Matching for Graphs of Bounded Treewidth (Takashi Yamada and Takayoshi Shoudai)mLynx: Relational Mutual Information (Nicola Di Mauro, Teresa M A Basile, Stefano Ferilli and Floriana Esposito)Theory:Machine Learning Coalgebraic Proofs (Ekaterina Komendantskaya)Can ILP Deal with Incomplete and Vague Structured Knowledge? (Francesca A Lisi and Umberto Straccia)Logical Learning:Towards Efficient Higher-Order Logic Learning in a First-Order Datalog Framework (Niels Pahlavi and Stephen H Muggleton)Automatic Invention of Functional Abstractions (Robert J Henderson and Stephen H Muggleton)Constraints:Using Machine-Generated Soft Constraints for Roster Problems (Yoshihisa Shiina and Hayato Ohwada)Spatial and Temporal:Relational Learning for Football-Related Predictions (Jan Van Haaren and Guy Van den Broeck) Readership: Graduate students and researchers in the field of ILP, and academics and researchers in the fields of artificial intelligence and natural sciences. Key Features:Covers major areas of research in ILPProvides an up-to-date insight into the key sub-areas of implementation and theory of ILPThe papers in this volume do not appear in conference proceedings elsewhere in the literatureKeywords:Machine Learning;Logic Programs;Inductive Inference;Structure Learning;Relational Learning;Statistical Relational Learning
Fundamentals in Modeling and Control of Mobile Manipulators by Zhijun Li,Shuzhi Sam Ge Pdf
Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control
Mobile Robot Localization and Map Building by Jose A. Castellanos,Juan D. Tardós Pdf
During the last decade, many researchers have dedicated their efforts to constructing revolutionary machines and to providing them with forms of artificial intelligence to perform some of the most hazardous, risky or monotonous tasks historically assigned to human beings. Among those machines, mobile robots are undoubtedly at the cutting edge of current research directions. A rough classification of mobile robots can be considered: on the one hand, mobile robots oriented to human-made indoor environments; on the other hand, mobile robots oriented to unstructured outdoor environments, which could include flying oriented robots, space-oriented robots and underwater robots. The most common motion mechanism for surface mobile robots is the wheel-based mechanism, adapted both to flat surfaces, found in human-made environments, and to rough terrain, found in outdoor environments. However, some researchers have reported successful developments with leg-based mobile robots capable of climbing up stairs, although they require further investigation. The research work presented here focuses on wheel-based mobile robots that navigate in human-made indoor environments. The main problems described throughout this book are: Representation and integration of uncertain geometric information by means of the Symmetries and Perturbations Model (SPmodel). This model combines the use of probability theory to represent the imprecision in the location of a geometric element, and the theory of symmetries to represent the partiality due to characteristics of each type of geometric element. A solution to the first location problem, that is, the computation of an estimation for the mobile robot location when the vehicle is completely lost in the environment. The problem is formulated as a search in an interpretation tree using efficient matching algorithms and geometric constraints to reduce the size of the solution space. The book proposes a new probabilistic framework adapted to the problem of simultaneous localization and map building for mobile robots: the Symmetries and Perturbations Map (SPmap). This framework has been experimentally validated by a complete experiment which profited from ground-truth to accurately validate the precision and the appropriateness of the approach. The book emphasizes the generality of the solutions proposed to the different problems and their independence with respect to the exteroceptive sensors mounted on the mobile robot. Theoretical results are complemented by real experiments, where the use of multisensor-based approaches is highlighted.
Dehumanization of Warfare by Wolff Heintschel von Heinegg,Robert Frau,Tassilo Singer Pdf
This book addresses the technological evolution of modern warfare due to unmanned systems and the growing capacity for cyberwarfare. The increasing involvement of unmanned means and methods of warfare can lead to a total removal of humans from the navigation, command and decision-making processes in the control of unmanned systems, and as such away from participation in hostilities – the “dehumanization of warfare.” This raises the question of whether and how today’s law is suitable for governing the dehumanization of warfare effectively. Which rules are relevant? Do interpretations of relevant rules need to be reviewed or is further and adapted regulation necessary? Moreover, ethical reasoning and computer science developments also have to be taken into account in identifying problems. Adopting an interdisciplinary approach the book focuses primarily on international humanitarian law, with related ethics and computer science aspects included in the discussion and the analysis.
Vision Based Mobile Robotics: mobile robot localization using vision sensors and active probabilistic approaches by Emanuele Frontoni Pdf
The use of vision in mobile robotics in one of the main goal of this thesis. In particular novel appearance based approaches for image matching metric are introduced. These approaches are applied to the problem of mobile robot localization.Similarity measures between robot's views are used in probabilistic methods for robot pose estimation. In this field of probabilistic localization active approach are proposed allowing the robot to faster and better localize. All methods have been extensively tested using a real robot in an indoor environment.Note: the book is the publication of the PhD thesis discussed in Università Politecnica delle Marche, Ancona, Italy in 2006 by Emanuele Frontoni
Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by Qiang Li,Shan Luo,Zhaopeng Chen,Chenguang Yang,Jianwei Zhang Pdf
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
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.
