Computational Principles of Mobile Robotics

This is a superb textbook for advanced undergraduate and graduate students in the field of mobile robotics. With a special emphasis on
computation and algorithms, Dudek and Jenkin address a range of strategies for enabling robots to master problems of navigation, pose
estimation, and autonomous exploration. While they concentrate on wheeled and legged mobile robots, they also discuss a variety of other
propulsion systems with kinematic models developed for many of the more common locomotive strategies. Chapters present algorithms for
both visual and nonvisual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors
thoroughly examine the subject of planning and the issues related to spatial representation. A comprehensive overview of the field,
Computational Principles of Mobile Robotics complements its discussion of state-of-the art methods with 139 illustrations of key current and
historical technologies.

• 1. Overview and motivation
  
• Part I: Locomotion And Perception
  
• 2. Mobile robot hardware
  
• 3. Non-visual sensors and algorithms
  
• 4. Visual sensors and algorithms
  
• Part II: Representation And Planning
  
• 5. Representing and reasoning about space
  
• 6. Operating environment
  
• 7. Pose maintenance
  
• 8. Maps and related tasks
  
• 9. Practical mobile robot tasks
  
• 10. The future of mobile robotics