Introduction to autonomous mobile robots /

Includes bibliographical references and index.

Introduction -- An Overview of the Book -- Locomotion -- Introduction -- Key issues for locomotion -- Legged Mobile Robots -- Leg configurations and stability -- Consideration of dynamics -- Examples of legged robot locomotion -- Wheeled Mobile Robots -- Wheeled locomotion: The design space -- Wheeled locomotion: Case studies -- Aerial Mobile Robots -- Introduction -- Aircraft configurations -- State of the art in autonomous VTOL -- Problems -- Mobile Robot Kinematics -- Introduction -- Kinematic Models and Constraints -- Representing robot position -- Forward kinematic models -- Wheel kinematic constraints -- Robot kinematic constraints -- Examples: Robot kinematic models and constraints -- Mobile Robot Maneuverability -- Degree of mobility -- Degree of steerability -- Robot maneuverability -- Mobile Robot Workspace -- Degrees of freedom -- Holonomic robots -- Path and trajectory considerations -- Beyond Basic Kinematics -- Motion Control (Kinematic Control) -- Open loop control (trajectory-following) -- Feedback control -- Problems -- Perception -- Sensors for Mobile Robots -- Sensor classification -- Characterizing sensor performance -- Representing uncertainty -- Wheel/motor sensors -- Heading sensors -- Accelerometers -- Inertial measurement unit (IMU) -- Ground beacons -- Active ranging -- Motion/speed sensors -- Vision sensors -- Fundamentals of Computer Vision -- Introduction -- The digital camera -- Image formation -- Omnidirectional cameras -- Structure from stereo -- Structure from motion -- Motion and optical flow -- Color tracking -- Fundamentals of Image Processing -- Image filtering -- Edge detection -- Computing image similarity -- Feature Extraction -- Image Feature Extraction: Interest Point Detectors -- Introduction -- Properties of the ideal feature detector -- Corner detectors -- Invariance to photometric and geometric changes -- Blob detectors -- Place Recognition -- Introduction -- From bag of features to visual words -- Efficient location recognition by using an inverted file -- Geometric verification for robust place recognition -- Applications -- Other image representations for place recognition -- Feature Extraction Based on Range Data (Laser, Ultrasonic) -- Line fitting -- Six line-extraction algorithms -- Range histogram features -- Extracting other geometric features -- Problems -- Mobile Robot Localization -- Introduction -- The Challenge of Localization: Noise and Aliasing -- Sensor noise -- Sensor aliasing -- Effector noise -- An error model for odometric position estimation -- To Localize or Not to Localize: Localization-Based Navigation Versus Programmed Solutions -- Belief Representation -- Single-hypothesis belief -- Multiple-hypothesis belief -- Map Representation -- Continuous representations -- Decomposition strategies -- State of the art: Current challenges in map representation -- Probabilistic Map-Based Localization -- Introduction -- The robot localization problem -- Basic concepts of probability theory -- Terminology -- The ingredients of probabilistic map-based localization -- Classification of localization problems -- Markov localization -- Kalman filter localization -- Other Examples of Localization Systems -- Landmark-based navigation -- Globally unique localization -- Positioning beacon systems -- Route-based localization -- Autonomous Map Building -- Introduction -- SLAM: The simultaneous localization and mapping problem -- Mathematical definition of SLAM -- Extended Kalman Filter (EKF) SLAM -- Visual SLAM with a single camera -- Discussion on EKF SLAM -- Graph-based SLAM -- Particle filter SLAM -- Open challenges in SLAM -- Open source SLAM software and other resources -- Problems -- Planning and Navigation -- Introduction -- Competences for Navigation: Planning and Reacting -- Path Planning -- Graph search -- Potential field path planning -- Obstacle avoidance -- Bug algorithm -- Vector field histogram -- The bubble band technique -- Curvature velocity techniques -- Dynamic window approaches -- The Schlegel approach to obstacle avoidance -- Nearness diagram -- Gradient method -- Adding dynamic constraints -- Other approaches -- Overview -- Navigation Architectures -- Modularity for code reuse and sharing -- Control localization -- Techniques for decomposition -- Case studies: tiered robot architectures -- Problems -- Bibliography.