Probabilistic Robotics

Sebastian Thrun, Wolfram Burgard, Dieter Fox - Collection Computer Science/Robotics

650 pages, parution le 04/10/2005

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Résumé

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, http://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.

L'auteur - Sebastian Thrun

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

L'auteur - Wolfram Burgard

Wolfram Burgard is Associate Professor and Head of the Autonomous Intelligent Systems Research Lab in the Department of Computer Science at the University of Freiburg.

L'auteur - Dieter Fox

Dieter Fox is Associate Professor and Director of the Robotics and State Estimation Lab in the Department of Computer Science and Engineering at the University of Washington.

Sommaire

Basics
- Introduction
- Recursive State Estimation
- Gaussian Filters
- Nonparametric Filters
- Robot Motion
- Robot Perception
Localization
- Mobile Robot Localization: Markov and Gaussian
- Mobile Robot Localization: Grid And Monte Carlo
Mapping
- Occupancy Grid Mapping
- Simultaneous Localization and Mapping
- The GraphSLAM Algorithm
- The Sparse Extended Information Filter
- The FastSLAM Algorithm
Planning and Control
- Markov Decision Process
- Partially Observable Markov Decision Processes
- Approximate POMDP Techniques
- Exploration
- Bibliography
- Index

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Caractéristiques techniques

	PAPIER
Éditeur(s)	The MIT Press
Auteur(s)	Sebastian Thrun, Wolfram Burgard, Dieter Fox
Collection	Computer Science/Robotics
Parution	04/10/2005
Nb. de pages	650
Format	21 x 24
Couverture	Relié
Poids	1315g
Intérieur	Noir et Blanc
EAN13	9780262201629
ISBN13	978-0-262-20162-9