Robotic Mapping And Exploration
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Robotic Mapping And Exploration
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Author : Cyrill Stachniss
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-04-27
Robotic Mapping And Exploration written by Cyrill Stachniss and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-27 with Technology & Engineering categories.
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Mapping Planning And Exploration With Pose Slam
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Author : Rafael Valencia
language : en
Publisher: Springer
Release Date : 2017-06-21
Mapping Planning And Exploration With Pose Slam written by Rafael Valencia and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-21 with Technology & Engineering categories.
This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery. Pose SLAM is the variant of SLAM where only the robot trajectory is estimated and where landmarks are used to produce relative motion measurements between robot poses. With regards to extending the original Pose SLAM formulation, this monograph covers the study of such measurements when they are obtained with stereo cameras, develops the appropriate noise propagation models for such case, extends the Pose SLAM formulation to SE(3), introduces information-theoretic loop closure tests, and presents a technique to compute traversability maps from the 3D volumetric maps obtained with Pose SLAM. A relevant topic covered in this monograph is the introduction of a novel path planning approach that exploits the modeled uncertainties in Pose SLAM to search for the path in the pose graph that allows the robot to navigate to a given goal with the least probability of becoming lost. Another relevant topic is the introduction of an autonomous exploration method that selects the appropriate actions to drive the robot so as to maximize coverage, while minimizing localization and map uncertainties. This monograph is appropriate for readers interested in an information-theoretic unified perspective to the SLAM, path planning and exploration problems, and is a reference book for people who work in mobile robotics research in general.
Multi Sensory Autonomous Mapping And Exploration With Application To Robotic Object Rearrangement
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Author : Fredy Tungadi
language : en
Publisher:
Release Date : 2011
Multi Sensory Autonomous Mapping And Exploration With Application To Robotic Object Rearrangement written by Fredy Tungadi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
The ultimate aim of this thesis is to develop an autonomous exploring and mapping mobile robot system to provide a platform for useful applications such as autonomous cleaning or tidying. The first requirement for an autonomous mobile robot is autonomy of navigation which can be assisted by implementing Simultaneous Localisation and Mapping (SLAM). SLAM enables the robot to incrementally build a map of the environment and localise itself with the map. Unfortunately, SLAM does not encompass motion control that enables the robot to move autonomously to build the map. Therefore, in order to achieve a truly autonomous mapping operation, this thesis also focused on the development of an autonomous exploration approach. In addition, this thesis also included an autonomous online map merging system which allowed the robot to perform intermittent exploration and yet still be able to acquire a globally consistent map. Finally, the robot system with autonomous mapping and exploration capabilities was extended to perform an autonomous object rearrangement. Particularly, this thesis concentrated on the development of a system for the robot to autonomously discover and restore changes in object positions without the assistance of external aids. This thesis made the following original contributions to research. Firstly, a time synchronisation approach was developed, which permitted high speed mobile robot mapping by minimising time synchronisation errors of odometry and range sensors. Secondly, a real-time system for robust and accurate SLAM with fusion of advanced sonar features and laser Polar Scan Matching (PSM) was presented. This resolved the problem of map drifts in corridors resulting from ill-conditioned laser scan matches. In the development of the SLAM system, the PSM was extended for multiple laser rangefinders. This solved the problem of scans overlapping insufficiently in the matching process given the limited field of view of a single laser. Moreover, a method of simultaneously calibrating odometry and fine tuning the local range sensors' pose relative to the robot origin was presented. Thirdly, a Voronoi-loop-based approach for autonomous exploration which facilitated truly autonomous exploration and stable mapping by performing frequent loop closing was presented. Fourthly, an autonomous online map merging system for a single robot performing intermittent explorations was introduced. The map merging was achieved by combining a probabilistic Haar-based place recognition system using omnidirectional vision with an integrated SLAM and autonomous exploration system based on laser scan matching. This system was shown to robustly and autonomously perform map merging in challenging indoor environments. Fifthly, a method that utilised SLAM and autonomous exploration to discover and restore changes in object positions was presented. In the development of the object rearrangement system, a novel electromagnetic based grasping system and a novel path planning technique for transporting objects were introduced. The technical contributions of this thesis were validated with a series of practical experimentations using a real-time robot system with various combinations of sensors in typical indoor environments.
Gaussian Processes For Information Theoretic Robotic Mapping And Exploration
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Author : Maani Ghaffari Jadidi
language : en
Publisher:
Release Date : 2017
Gaussian Processes For Information Theoretic Robotic Mapping And Exploration written by Maani Ghaffari Jadidi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with Gaussian processes categories.
Robotic Mapping
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Author : Fouad Sabry
language : en
Publisher: One Billion Knowledgeable
Release Date : 2024-12-28
Robotic Mapping written by Fouad Sabry and has been published by One Billion Knowledgeable this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-28 with Technology & Engineering categories.
Unlock the future of robotics with "Robotic Mapping," a definitive guide that explores the critical aspects of robot navigation, mapping, and control. This book is designed for professionals, students, and enthusiasts who are passionate about robotics science. Whether you are a researcher in mobile robotics or a hobbyist eager to understand cuttingedge technologies, this book provides invaluable insights. It is more than just a resource—it's an investment in your robotic knowledge. Chapters Brief Overview: 1: Robotic mapping: Explore the foundational concepts behind how robots create and interpret maps of their environment. 2: Autonomous robot: Learn how robots operate independently, making decisions without human intervention. 3: Simultaneous localization and mapping: Delve into the key algorithms that enable robots to map their surroundings and determine their location simultaneously. 4: Swarm robotics: Understand how multiple robots can work together to achieve complex tasks through collaborative behavior. 5: Navigation mesh: Discover the structure that allows robots to move efficiently through virtual environments. 6: Denning Mobile Robot Company: Study the role of industry leaders in shaping the future of mobile robotics. 7: Gregory Dudek: Learn from the expert whose work has profoundly influenced the field of robotics and autonomous systems. 8: Mobile robot: Examine the mechanics and design behind mobile robots that navigate realworld environments. 9: Motion planning: Investigate the strategies used by robots to move smoothly and effectively in dynamic environments. 10: Positioning system: Understand how robots determine their position and orientation in a given space. 11: Obstacle avoidance: Explore the technologies that allow robots to detect and navigate around obstacles safely. 12: Indoor positioning system: Delve into the systems that enable accurate robot navigation within indoor environments. 13: Robot navigation: Learn how robots use sensor data and algorithms to navigate through unknown or changing environments. 14: Occupancy grid mapping: Understand the powerful technique for representing environments that robots use for navigation. 15: WiFi positioning system: Study how WiFi signals are used for localization and navigation in robotics. 16: IISc Guidance, Control and Decision Systems Laboratory: Gain insights from one of the leading laboratories in robotics research and development. 17: Mobile Robot Programming Toolkit: Explore the software tools used to program and control mobile robots effectively. 18: Anyangle path planning: Learn about algorithms that allow robots to navigate paths without strict geometric constraints. 19: Autonomous aircraft: Examine the principles behind the navigation and control of unmanned aerial vehicles (UAVs). 20: AirCobot: Study the emerging field of airborne robots that collaborate with groundbased systems for complex operations. 21: Intrinsic localization: Understand the methods robots use to localize themselves using only their internal sensors, without external inputs. This book is an indispensable resource for those who wish to stay ahead in the rapidly evolving field of robotics. With its comprehensive coverage and expert insights, "Robotic Mapping" provides the knowledge and tools to navigate the intricate landscape of robotic systems. Elevate your expertise today and invest in a future where robots and their mapping technologies are at the forefront of innovation.
Robot Navigation From Nature
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Author : Michael John Milford
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-11
Robot Navigation From Nature written by Michael John Milford and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-11 with Technology & Engineering categories.
This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.
A Novel Approach For Multi Robot Mapping And Exploration
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Author : Zhen Zou
language : en
Publisher:
Release Date : 2003
A Novel Approach For Multi Robot Mapping And Exploration written by Zhen Zou and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Mappings (Mathematics) categories.
Exploration And Mapping With Mobile Robots
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Author :
language : en
Publisher:
Release Date : 2006
Exploration And Mapping With Mobile Robots written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
Models of the environment are needed for a wide range of robotic applications, from search and rescue to automated vacuum cleaning. Learning maps has therefore been a major research focus in the robotics community over the last decades. Robots that are able to acquire an accurate model of their environment on their own are regarded as fulfilling a major precondition of truly autonomous agents. In order to solve the map learning problem, a robot has to address mapping, localization, and path planning at the same time. In general, these three tasks cannot be decoupled and solved independently and map learning is thus referred to as the simultaneous planning, localization, and mapping problem. Because of the coupling between these tasks, this problem is very complex. It can become even more complex when there are dynamic changes in the environment or several robots are being used together to solve the problem. The contributions of this thesis are solutions to various aspects of the autonomous map learning problem. We first present approaches to exploration that take into account the uncertainty in the world model of the robot. We then describe how to achieve good collaboration among a team of robots so that they efficiently solve an exploration task. Our approach distributes the robots over the environment and in this way avoids redundant work and reduces the risk of interference between the individual team members. We furthermore provide a technique to make use of background knowledge about typical spacial structures when distributing the robots over the environment. As a result, the overall time needed to complete the exploration mission is reduced. To deal with the uncertainty in the pose of a robot, we present a solution to the simultaneous localization and mapping problem. The difficulty in this context is to build up a map while at the same time localizing the robot in this map. Our approach maintains a joint posterior about the trajectory of the robot and the mo.
Heterogeneous Teams Of Modular Robots For Mapping And Exploration
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Author : Luis E. Navarro-Serment
language : en
Publisher:
Release Date : 1999
Heterogeneous Teams Of Modular Robots For Mapping And Exploration written by Luis E. Navarro-Serment and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Digital mapping categories.
Abstract: "In this report, we present the design of a team of centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation, and mobility modules. Robots with different configurations use their special capabilities collaboratively to accomplish the given task. For mapping and exploration with multiple robots, it is critical to know the relative positions of each robot with respect to the others. We have developed a novel localization system that uses sonar-based distance measurements to determine the positions of all the robots. With their positions known, we use an occupancy grid Bayesian mapping algorithm to combine the sensor data from multiple robots with different sensing modalities. We illustrate the complete systems with an example scenario for mapping the layout and obstacles in an office."
Robotics Science And Systems I
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Author : Sebastian Thrun
language : en
Publisher:
Release Date : 2005
Robotics Science And Systems I written by Sebastian Thrun and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Computers categories.
Robotics: Science and Systems II spans all areas of robotics, bringing togetherresearchers working on the algorithmic and mathematical foundations of robotics, roboticsapplications, and analysis of robotics systems. This volume presents the proceedings of the secondannual Robotics: Science and Systems conference, held in August 2006. Papers report state-of-the-artresearch on topics as diverse as Legged Robotics, Reconfigurable Robots, Biomimetic Robots,Manipulation, Humanoid Robotics, Telerobotics, Haptics, Motion Planning, Collision Avoidance, RobotVision and Perception, Bayesian Techniques, Machine Learning, Mobile Robots, and Multi-robotsystems.