Computational Principles of Mobile Robotics

by Gregory Dudek, Michael Jenkin

Overview

This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but discusses a variety of other propulsion systems. This edition includes advances in robotics and intelligent machines over the ten years prior to publication, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.

Product Details

ISBN-13:	9781139814935
Publisher:	Cambridge University Press
Publication date:	07/26/2010
Sold by:	Barnes & Noble
Format:	eBook
File size:	16 MB
Note:	This product may take a few minutes to download.

About the Author

Gregory Dudek is Professor of Computer Science and Director of the School of Computer Science at McGill University. He holds a James McGill Chair and is a member of the Center for Intelligent Machines, and has been co-author of over 150 refereed publications on robotics and computer vision.
Michael Jenkin is a Professor of Computer Science and Engineering at York University. He has co-edited a series of eight books on human and machine vision.

Table of Contents

1. Overview and motivation; 2. Fundamental problems; Part I. Locomotion and Perception: 3. Mobile robot hardware; 4. Non-visual sensors and algorithms; 5. Visual sensors and algorithms; Part II. Representation and Planning: 6. Representing and reasoning about space; 7. System control; 8. Pose maintenance and localization; 9. Mapping and related tasks; 10. Robot collectives; 11. Robots in practice; 12. The future of mobile robotics; Appendix A. Probability and statistics; Appendix B. Linear systems, matrices and filtering; Appendix C. Markov models.

Editorial Reviews

Canadian computer scientists Dudek (McGill U.) and Jenkin (York U.) examine how existing autonomous robot systems have approached the three tasks of moving, sensing, and reasoning out their environment. They emphasize the computational methods of programming robotics rather than the methods for constructing the hardware. Intended for graduate and advanced undergraduates in robotics. Annotation c. Book News, Inc., Portland, OR (booknews.com)

Booknews

"This book is an indispensable tool for any—both pre-university and university—course on mobile robotics. In relation to the first edition, this current one has been sufficiently updated. I recommend this book to researchers—particularly those who study localization or mapping—and doctoral students who are interested in investigating the latest approaches and techniques in the mobile robotics field."
RAMON GONZALEZ SANCHEZ, Computing Reviews

"This work (1st. ed., CH, Nov'00, 38-1584) became an immediate resource for this reviewer for both research and teaching purposes. In the multidisciplinary area of robotics, it is not uncommon to find textbooks that describe the algorithms involved in robotic control, perception, planning, etc., but fail to provide the reader with the critical details necessary for implementation. For the majority of topics, Dudek (McGill Univ., Canada) and Jenkin (York Univ., Canada) present the necessary math to perform the computation and in some cases also provide pseudocode. References are included throughout. The text really shines in its handling of algorithms for perception, sensor fusion, and path planning. The appendixes review probability, statistics, linear systems, filters, and Markov models, but not with enough depth to provide an introduction to someone new to any one of these topics. This work is a bit too advanced for an introductory course on robotics, but it would be a great resource for an intermediate or advanced course on mobile robotics."
R.S. STANSBURY, Embry-Riddle Aeronautical University

"...a great resource for an intermediate or advanced course on mobile robotics." CHOICE

From the Publisher