Algorithms For Robust Autonomous Navigation In Human Environments
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| Author | : Miomir Vukobratovic |
| Publisher | : World Scientific |
| Total Pages | : 657 |
| Release | : 2009 |
| Genre | : Technology & Engineering |
| ISBN | : 9812834761 |
This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.
| Author | : Roland Siegwart |
| Publisher | : MIT Press |
| Total Pages | : 473 |
| Release | : 2011-02-18 |
| Genre | : Computers |
| ISBN | : 0262015358 |
The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
| Author | : Martin Ebers |
| Publisher | : Cambridge University Press |
| Total Pages | : 321 |
| Release | : 2020-07-23 |
| Genre | : Law |
| ISBN | : 1108677452 |
Algorithms permeate our lives in numerous ways, performing tasks that until recently could only be carried out by humans. Artificial Intelligence (AI) technologies, based on machine learning algorithms and big-data-powered systems, can perform sophisticated tasks such as driving cars, analyzing medical data, and evaluating and executing complex financial transactions - often without active human control or supervision. Algorithms also play an important role in determining retail pricing, online advertising, loan qualification, and airport security. In this work, Martin Ebers and Susana Navas bring together a group of scholars and practitioners from across Europe and the US to analyze how this shift from human actors to computers presents both practical and conceptual challenges for legal and regulatory systems. This book should be read by anyone interested in the intersection between computer science and law, how the law can better regulate algorithmic design, and the legal ramifications for citizens whose behavior is increasingly dictated by algorithms.
| Author | : Robin R. Murphy |
| Publisher | : MIT Press |
| Total Pages | : 649 |
| Release | : 2019-10-01 |
| Genre | : Computers |
| ISBN | : 026203848X |
A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.
| Author | : Luis Payá |
| Publisher | : MDPI |
| Total Pages | : 298 |
| Release | : 2020-11-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3039286706 |
The presence of mobile robots in diverse scenarios is considerably increasing to perform a variety of tasks. Among them, many developments have occurred in the fields of ground, underwater, and flying robotics. Independent of the environment where they move, navigation is a fundamental ability of mobile robots so that they can autonomously complete high-level tasks. This problem can be efficiently addressed through the following actions: First, it is necessary to perceive the environment in which the robot has to move, and extract some relevant information (mapping problem). Second, the robot must be able to estimate its position and orientation within this environment (localization problem). With this information, a trajectory toward the target points must be planned (path planning), and the vehicle must be reactively guided along this trajectory considering either possible changes or interactions with the environment or with the user (control). Given this information, this book introduces current frameworks in these fields (mapping, localization, path planning, and control) and, in general, approaches to any problem related to the navigation of mobile robots, such as odometry, exploration, obstacle avoidance, and simulation.
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
| Author | : Aude Billard |
| Publisher | : MIT Press |
| Total Pages | : 425 |
| Release | : 2022-02-08 |
| Genre | : Technology & Engineering |
| ISBN | : 0262367017 |
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.
| Author | : Sebastian Thrun |
| Publisher | : MIT Press |
| Total Pages | : 668 |
| Release | : 2005-08-19 |
| Genre | : Technology & Engineering |
| ISBN | : 0262201623 |
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 | : Jan Mazal |
| Publisher | : Springer |
| Total Pages | : 463 |
| Release | : 2018-03-06 |
| Genre | : Computers |
| ISBN | : 3319760726 |
This book constitutes the thoroughly refereed post-workshop proceedings of the 4th International Workshop on Modelling and Simulation for Autonomous Systems, MESAS 2017, held in Rome, Italy, , in October 2017. The 33 revised full papers included in the volume were carefully reviewed and selected from 38 submissions. They are organized in the following topical sections: M&S of Intelligent Systems – AI, R&D and Applications; Autonomous Systems in Context of Future Warfare and Security – Concepts, Applications, Standards and Legislation; Future Challenges and Opportunities of Advanced M&S Technology.
| Author | : Andrew Adamatzky |
| Publisher | : Elsevier |
| Total Pages | : 349 |
| Release | : 2005-10-05 |
| Genre | : Mathematics |
| ISBN | : 0080461271 |
The book introduces a hot topic of novel and emerging computing paradigms and architectures -computation by travelling waves in reaction-diffusion media. A reaction-diffusion computer is a massively parallel computing device, where the micro-volumes of the chemical medium act as elementary few-bit processors, and chemical species diffuse and react in parallel. In the reaction-diffusion computer both the data and the results of the computation are encoded as concentration profiles of the reagents, or local disturbances of concentrations, whilst the computation per se is performed via the spreading and interaction of waves caused by the local disturbances. The monograph brings together results of a decade-long study into designing experimental and simulated prototypes of reaction-diffusion computing devices for image processing, path planning, robot navigation, computational geometry, logics and artificial intelligence. The book is unique because it gives a comprehensive presentation of the theoretical and experimental foundations, and cutting-edge computation techniques, chemical laboratory experimental setups and hardware implementation technology employed in the development of novel nature-inspired computing devices. Key Features: - Non-classical and fresh approach to theory of computation. - In depth exploration of novel and emerging paradigms of nature-inspired computing. - Simple to understand cellular-automata models will help readers/students to design their own computational experiments to advance ideas and concepts described in the book . - Detailed description of receipts and experimental setups of chemical laboratory reaction-diffusion processors will make the book an invaluable resource in practical studies of non-classical and nature-inspired computing architectures . - Step by step explanations of VLSI reaction-diffusion circuits will help students to design their own types of wave-based processors.Key Features: - Non-classical and fresh approach to theory of computation. - In depth exploration of novel and emerging paradigms of nature-inspired computing. - Simple to understand cellular-automata models will help readers/students to design their own computational experiments to advance ideas and concepts described in the book . - Detailed description of receipts and experimental setups of chemical laboratory reaction-diffusion processors will make the book an invaluable resource in practical studies of non-classical and nature-inspired computing architectures . - Step by step explanations of VLSI reaction-diffusion circuits will help students to design their own types of wave-based processors.
