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Mobile Robot Localization and Map Building - 9781461369820

Description: Mobile Robot Localization and Map Building Please note: this item is printed on demand and will take extra time before it can be dispatched to you (up to 20 working days). A Multisensor Fusion Approach Author(s): Jose A. Castellanos, Juan D. Tardos Format: Paperback Publisher: Springer-Verlag New York Inc., United States Imprint: Springer-Verlag New York Inc. ISBN-13: 9781461369820, 978-1461369820 Synopsis 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.

Price: 103.96 GBP

Location: Aldershot

End Time: 2025-01-08T15:20:30.000Z

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Mobile Robot Localization and Map Building - 9781461369820

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Book Title: Mobile Robot Localization and Map Building

Number of Pages: 205 Pages

Language: English

Publication Name: Mobile Robot Localization and Map Building: a Multisensor Fusion Approach

Publisher: Springer-Verlag New York Inc.

Publication Year: 2012

Subject: Computer Science

Item Height: 235 mm

Item Weight: 349 g

Type: Textbook

Author: Juan D. Tardos, Jose A. Castellanos

Subject Area: Material Science, Mechanical Engineering

Item Width: 155 mm

Format: Paperback

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