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Author : Timothy D. Barfoot
Publisher : Cambridge University Press
Page : 381 pages
File Size : 54,9 Mb
Release : 2017-07-31
Category : Computers
ISBN : 9781107159396
A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Author : Timothy D. Barfoot
Publisher : Cambridge University Press
Page : 532 pages
File Size : 45,9 Mb
Release : 2024-01-31
Category : Computers
ISBN : 9781009299930
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.
Author : Timothy D. Barfoot
Publisher : Cambridge University Press
Page : 531 pages
File Size : 42,6 Mb
Release : 2024-01-31
Category : Computers
ISBN : 9781009299893
This modern look at state estimation now covers variational inference, adaptive covariance estimation, and inertial navigation.
Author : Timothy D. Barfoot
Publisher : Unknown
Page : 128 pages
File Size : 43,8 Mb
Release : 2017
Category : Electronic
ISBN : 1108506739
Author : Dan Simon
Publisher : John Wiley & Sons
Page : 554 pages
File Size : 48,6 Mb
Release : 2006-06-19
Category : Technology & Engineering
ISBN : 9780470045336
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.
Author : Sebastian Thrun,Wolfram Burgard,Dieter Fox
Publisher : MIT Press
Page : 668 pages
File Size : 54,8 Mb
Release : 2005-08-19
Category : Technology & Engineering
ISBN : 9780262201629
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.
Author : Luc Jaulin,Michel Kieffer,Olivier Didrit,Eric Walter
Publisher : Springer Science & Business Media
Page : 382 pages
File Size : 54,6 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9781447102496
At the core of many engineering problems is the solution of sets of equa tions and inequalities, and the optimization of cost functions. Unfortunately, except in special cases, such as when a set of equations is linear in its un knowns or when a convex cost function has to be minimized under convex constraints, the results obtained by conventional numerical methods are only local and cannot be guaranteed. This means, for example, that the actual global minimum of a cost function may not be reached, or that some global minimizers of this cost function may escape detection. By contrast, interval analysis makes it possible to obtain guaranteed approximations of the set of all the actual solutions of the problem being considered. This, together with the lack of books presenting interval techniques in such a way that they could become part of any engineering numerical tool kit, motivated the writing of this book. The adventure started in 1991 with the preparation by Luc Jaulin of his PhD thesis, under Eric Walter's supervision. It continued with their joint supervision of Olivier Didrit's and Michel Kieffer's PhD theses. More than two years ago, when we presented our book project to Springer, we naively thought that redaction would be a simple matter, given what had already been achieved . . .
Author : Kwang-Cheng Chen
Publisher : CRC Press
Page : 354 pages
File Size : 42,7 Mb
Release : 2022-09-01
Category : Technology & Engineering
ISBN : 9781000793048
Robots, autonomous vehicles, unmanned aerial vehicles, and smart factory, will significantly change human living style in digital society. Artificial Intelligence in Wireless Robotics introduces how wireless communications and networking technology enhances facilitation of artificial intelligence in robotics, which bridges basic multi-disciplinary knowledge among artificial intelligence, wireless communications, computing, and control in robotics. A unique aspect of the book is to introduce applying communication and signal processing techniques to enhance traditional artificial intelligence in robotics and multi-agent systems. The technical contents of this book include fundamental knowledge in robotics, cyber-physical systems, artificial intelligence, statistical decision and Markov decision process, reinforcement learning, state estimation, localization, computer vision and multi-modal data fusion, robot planning, multi-agent systems, networked multi-agent systems, security and robustness of networked robots, and ultra-reliable and low-latency machine-to-machine networking. Examples and exercises are provided for easy and effective comprehension. Engineers wishing to extend knowledge in the robotics, AI, and wireless communications, would be benefited from this book. In the meantime, the book is ready as a textbook for senior undergraduate students or first-year graduate students in electrical engineering, computer engineering, computer science, and general engineering students. The readers of this book shall have basic knowledge in undergraduate probability and linear algebra, and basic programming capability, in order to enjoy deep reading.
Author : Nicholas Roy,Paul Newman,Siddhartha Srinivasa
Publisher : MIT Press
Page : 501 pages
File Size : 45,5 Mb
Release : 2013-07-05
Category : Computers
ISBN : 9780262519687
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.
Author : Rui Jiang,Xinghua Liu,Badong Chen,Shuzhi Sam Ge
Publisher : John Wiley & Sons
Page : 228 pages
File Size : 47,7 Mb
Release : 2022-08-26
Category : Technology & Engineering
ISBN : 9781119876038
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.
Author : Heidar A. Talebi,Farzaneh Abdollahi,Rajni V. Patel,Khashayar Khorasani
Publisher : Springer
Page : 154 pages
File Size : 45,6 Mb
Release : 2009-12-04
Category : Technology & Engineering
ISBN : 9781441914385
"Neural Network-Based State Estimation of Nonlinear Systems" presents efficient, easy to implement neural network schemes for state estimation, system identification, and fault detection and Isolation with mathematical proof of stability, experimental evaluation, and Robustness against unmolded dynamics, external disturbances, and measurement noises.
Author : Georgios Lidoris
Publisher : kassel university press GmbH
Page : 169 pages
File Size : 49,5 Mb
Release : 2011
Category : Autonomous robots
ISBN : 9783862190638
Author : Ingemar J. Cox,Gordon T. Wilfong
Publisher : Springer Science & Business Media
Page : 478 pages
File Size : 41,8 Mb
Release : 2012-12-06
Category : Computers
ISBN : 9781461389972
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.
Author : Alonzo Kelly
Publisher : Cambridge University Press
Page : 717 pages
File Size : 45,5 Mb
Release : 2013-11-11
Category : Computers
ISBN : 9781107031159
Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning
Author : John Stephen Mullane,Ba-Ngu Vo,Martin David Adams,Ba-Tuong Vo
Publisher : Springer Science & Business Media
Page : 161 pages
File Size : 44,8 Mb
Release : 2011-05-19
Category : Technology & Engineering
ISBN : 9783642213892
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.