Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent BehaviourMobile robotics is a cuttingedge research topic, which until recently has primarily focused on issues such as the design of controllers and robot hardware. The field is now ready to embrace theoretical methods from dynamical systems theory, statistics and system identification to produce quantitative analyses and computer models of robotenvironment interaction. Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour is a decisive step towards a theoretical understanding of the operation of autonomous mobile robotics. This book presents cuttingedge research results on the application of chaos theory, parametric and nonparametric statistics and dynamical systems theory in mobile robotics. It presents foundations of a theory of mobile robotics by providing a quantitative analysis of the interaction between robot, task and environment. Practical examples and case studies show how robot behaviour can be logged, modelled, analysed and interpreted. This new approach will aid the design of controllers, analysis of agent behaviour and the verification of experimental results. As the first book to apply advanced scientific methods to the growing field of mobile robots, Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour will interest researchers, lecturers and postgraduate students in robotics, artificial intelligence and cognitive science.

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Contents
A Brief Introduction to Mobile Robotics  1 
13 The Emergence of Behaviour  5 
14 Examples of Research Issues in Autonomous Mobile Robotics  7 
15 Summary  9 
Introduction to Scientific Methods in Mobile Robotics  11 
Analytical Robotics  13 
23 RobotEnvironment Interaction as Computation  15 
24 A Theory of RobotEnvironment Interaction 241 Definition  16 
The Lyapunov Exponent  100 
The Dimension of Attractors  116 
46 Summary  119 
Analysis of Agent Behaviour Case Studies  121 
52 Chaos Walker  126 
53 Analysing the Flight Paths of Carrier Pigeons  133 
Computer Modelling of RobotEnvironment Interaction  139 
62 Some Practical Considerations Regarding Robot Modelling  141 
25 Robot Engineering vs Robot Science  18 
26 Scientific Method and Autonomous Mobile Robotics 261 Introduction  19 
27 Tools Used in this Book  27 
The Contrast Between Experimental Mobile Robotics and Scientific Mobile Robotics  28 
Statistical Tools for Describing Experimental Data  29 
32 The Normal Distribution  30 
33 Parametric Methods to Compare Samples 331 General Considerations Significance Levels  33 
34 NonParametric Methods to Compare Samples  43 
35 Testing for Randomness in a Sequence  55 
36 Parametric Tests for a Trend Correlation Analysis  57 
37 NonParametric Tests for a Trend 371 Spearman Rank Correlation  65 
38 Analysing Categorical Data  69 
39 Principal Component Analysis  80 
Dynamical Systems Theory and Agent Behaviour  85 
43 Describing Robot Behaviour Quantitatively Through Phase Space Analysis  95 
Model Acquisition Using Artificial Neural Networks  143 
64 Linear Polynomial Models and Linear Recurrence Relations  150 
65 NARMAX Modelling  155 
Environment Identification  156 
67 Task Identification  173 
68 Sensor Identification  184 
69 When Are Two Behaviours the Same?  185 
610 Conclusion  193 
Conclusion  195 
72 Quantitative Descriptions of RobotEnvironment Interaction  196 
73 A Theory of RobotEnvironment Interaction  197 
Towards Analytical Robotics  199 
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