Mobile Robotics

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Springer Science & Business Media, Jun 11, 2003 - Computers - 280 pages
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Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18
  

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Contents

Introduction
1
Foundations
7
Robot Hardware
25
Making Sense of Raw Sensor Data
47
Navigation
95
Novelty Detection
167
Modelling RobotEnvironment Interaction
183
Analysis of Robot Behaviour
199
The Fundamental Theorem and Pappuss Theorem
33
Onedimensional Projectivities
41
Twodimensional Projectivities
49
Polarities
60
The Conic
71
The Conic Continued
81
A Finite Projective Plane
91
Parallelism
102

Outlook
249
Answers to Exercises
255
List of Exercises and Case Studies
263
Index
273
Coordinates
111
Answers to Exercises 133
133
References 157
157
Copyright

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About the author (2003)

Ulrich Nehmzow is Senior Lecturer at the Department of Computer Science at the University of Essex.

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