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Author: Frank Dellaert
Publisher:
ISBN: 9781680833263
Category : Technology & Engineering
Languages : en
Pages : 162
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Book Description
Reviews the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are introduced as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them.
Author: Frank Dellaert
Publisher:
ISBN: 9781680833263
Category : Technology & Engineering
Languages : en
Pages : 162
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Book Description
Reviews the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are introduced as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them.
Author: Frank Dellaert
Publisher:
ISBN: 9781680833270
Category : Electronic books
Languages : en
Pages : 139
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Book Description
We review the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are a family of probabilistic graphical models, other examples of which are Bayesian networks and Markov random fields, well known from the statistical modeling and machine learning literature. They provide a powerful abstraction that gives insight into particular inference problems, making it easier to think about and design solutions, and write modular software to perform the actual inference. We illustrate their use in the simultaneous localization and mapping problem and other important problems associated with deploying robots in the real world. We introduce factor graphs as an economical representation within which to formulate the different inference problems, setting the stage for the subsequent sections on practical methods to solve them. We explain the nonlinear optimization techniques for solving arbitrary nonlinear factor graphs, which requires repeatedly solving large sparse linear systems. The sparse structure of the factor graph is the key to understanding this more general algorithm, and hence also understanding (and improving) sparse factorization methods. We provide insight into the graphs underlying robotics inference, and how their sparsity is affected by the implementation choices we make, crucial for achieving highly performant algorithms. As many inference problems in robotics are incremental, we also discuss the iSAM class of algorithms that can reuse previous computations, re-interpreting incremental matrix factorization methods as operations on graphical models, introducing the Bayes tree in the process. Because in most practical situations we will have to deal with 3D rotations and other nonlinear manifolds, we also introduce the more sophisticated machinery to perform optimization on nonlinear manifolds. Finally, we provide an overview of applications of factor graphs for robot perception, showing the broad impact factor graphs had in robot perception.
Author: Gerrit A. Folkertsma
Publisher:
ISBN: 9781680833126
Category : Technology & Engineering
Languages : en
Pages : 88
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Book Description
Presents a holistic, energy-based view of robotic systems. It examines the relevance of such energy considerations to robotics; starting from the fundamental aspects and proceeding to look at their practical application to robotic systems. Using Port-Hamiltonian Systems as a basis, it provides examples of energy measurement, passivity and safety.
Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Timothy D. Barfoot
Publisher: Cambridge University Press
ISBN: 1107159393
Category : Computers
Languages : en
Pages : 381
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Book Description
A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
Author: Dean A. Pomerleau
Publisher: Springer Science & Business Media
ISBN: 1461531926
Category : Technology & Engineering
Languages : en
Pages : 199
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Book Description
Dean Pomerleau's trainable road tracker, ALVINN, is arguably the world's most famous neural net application. It currently holds the world's record for distance traveled by an autonomous robot without interruption: 21.2 miles along a highway, in traffic, at speedsofup to 55 miles per hour. Pomerleau's work has received worldwide attention, including articles in Business Week (March 2, 1992), Discover (July, 1992), and German and Japanese science magazines. It has been featured in two PBS series, "The Machine That Changed the World" and "By the Year 2000," and appeared in news segments on CNN, the Canadian news and entertainment program "Live It Up", and the Danish science program "Chaos". What makes ALVINN especially appealing is that it does not merely drive - it learns to drive, by watching a human driver for roughly five minutes. The training inputstothe neural networkare a video imageoftheroad ahead and thecurrentposition of the steering wheel. ALVINN has learned to drive on single lane, multi-lane, and unpaved roads. It rapidly adapts to other sensors: it learned to drive at night using laser reflectance imaging, and by using a laser rangefinder it learned to swerve to avoid obstacles and maintain a fixed distance from a row of parked cars. It has even learned to drive backwards.
Author: Mohammad Osman Tokhi
Publisher: World Scientific
ISBN: 9814623369
Category : Technology & Engineering
Languages : en
Pages : 741
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Book Description
Interest in control of climbing and walking robots has remarkably increased over the years. Novel solutions of complex mechanical systems such as climbing, walking, flying and running robots with different kinds of locomotion and the technologies that support them and their applications are the evidence of significant progress in the area of robotics. Supporting technologies include the means by which robots use to sense, model, and navigate through their environments and, of course, actuation and control technologies. Human interaction including exoskeletons, prostheses and orthoses, as well as service robots, are increasingly active important pertinent areas of research. In addition, legged machines and tracked platforms with software architecture seem to be currently the research idea of most interest to the robotics community.
Author: Nikolaus Correll
Publisher:
ISBN: 9780692700877
Category :
Languages : en
Pages : 226
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Book Description
This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.
Author: Sebastian Thrun
Publisher: MIT Press
ISBN: 0262201623
Category : Technology & Engineering
Languages : en
Pages : 668
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Book Description
An introduction to the techniques and algorithms of the newest field in robotics. 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, 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.
Author: Peter I. Corke
Publisher: Taylor & Francis Group
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 392
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Book Description
