Examines state-of-the-art theoretical, technical, and practical issues common to both centralized and distributed autonomous robotic systemsProvides a coherent view of autonomous robots at the systems levelOffers expert guidance on the sensors, control, planning and coordination, and decision making aspects of autonomous mobile robotsGuides in system integration and architecture design, as well as the deployment and applications of autonomous robotic systems
It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited.
Roadmap to the Future
Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications.
A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations.
For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.
Table of Contents
SENSORS AND SENSOR FUSION
Visual Guidance for Autonomous Vehicles: Capability and Challenges; Andrew Shacklock, Jian Xu, and Han Wang
Millimeter Wave RADAR Power-Range Spectra Interpretation for Multiple Feature Detection; Martin Adams and Ebi Jose
Data Fusion via Kalman Filter: GPS and INS; Jingrong Cheng, Yu Lu, Elmer R. Thomas, and Jay A. Farrell
Landmarks and Triangulation in Navigation; Huosheng Hu, Julian Ryde, and Jiali Shen
MODELING AND CONTROL
Stabilization of Nonholonomic Systems; Alessandro Astolfi
Adaptive Neural-Fuzzy Control of Nonholonomic Mobile Robots; Fan Hong, Shuzhi Sam Ge, Frank L. Lewis, and Tong Heng Lee
Adaptive Control of Mobile Robots Including Actuator Dynamics; Zhuping Wang, Chun-Yi Su, and Shuzhi Sam Ge
Unified Control Design for Autonomous Car-Like Vehicle Tracking Maneuvers; Danwei Wang and Minhtuan Pham
MAP BUILDING AND PATH PLANNING
Map Building and SLAM Algorithms; José A. Castellanos, José Neira, and Juan D. Tardós
Motion Planning: Recent Developments; Héctor H. González-Baños, David Hsu, and Jean-Claude Latombe
Multi-Robot Cooperation; Rafael Fierro, Luiz Chaimowicz, and Vijay Kumar
DECISION MAKING AND AUTONOMY
Knowledge Representation and Decision Making for Mobile Robots; Elena Messina and Stephen Balakirsky
Algorithms for Planning under Uncertainty in Prediction and Sensing; Jason M. O'Kane, Benjamín Tovar, Peng Cheng, and Steven M. LaValle
Behavior-Based Coordination in Multi-Robot Systems; Chris Jones and Maja J. Mataric
SYSTEM INTEGRATION AND APPLICATIONS
Integration for Complex Consumer Robotic Systems: Case Studies and Analysis; Mario E. Munich, James P. Ostrowski, and Paolo Pirjanian
Automotive Systems/Robotic Vehicles; Michel R. Parent and Stéphane R. Petti
Intelligent Systems; Sesh Commuri, James S. Albus, and Anthony Barbera