Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods

Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods

Juan-Antonio Fernández-Madrigal (Universidad de Málaga, Spain) and José Luis Blanco Claraco (Universidad de Málaga, Spain)
Release Date: September, 2012|Copyright: © 2013 |Pages: 499
ISBN13: 9781466621046|ISBN10: 1466621044|EISBN13: 9781466621053|DOI: 10.4018/978-1-4666-2104-6

Description

As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics.

Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.

Topics Covered

The many academic areas covered in this publication include, but are not limited to:

  • Feature Sensors
  • Map Sensors
  • Mobile Robot Localization
  • Non-Holonomic Model
  • Probabilistics
  • Robotics
  • Simultaneous Localization and Mapping (SLAM)

Reviews and Testimonials

Fernandez-Madrigal and Claraco (both U. of Malaga, Spain) examine how mobile robots designed to interact with humans in service environments know where they are, where other things are, and how to get where they are needed. Writing for practitioners and graduate students, they cover robotic, probabilistic, and statistical basics; robot motion and sensor models; mobile robot localization with recursive Bayesian filters; types and constructions of maps for mobile robots; the Bayesian approach to simultaneous localization and mapping (SLAM); and advanced SLAM techniques.

– Book News Inc. Portland, OR

Table of Contents and List of Contributors

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Table of Contents
Foreword
Gabe Sibley
Preface
Juan-Antonio Fernández-Madrigal, José Luis Blanco Claraco
Acknowledgment
Chapter 1
Introduction  (pages 1-27)
In this first chapter of the book, the authors provide an overview of the problems of mobile robot localization and mapping, including taxonomies... Sample PDF
Introduction
$37.50
Chapter 2
Robotic Bases  (pages 28-59)
This is the second chapter of the first section. It presents the mechanical and physical foundations of mobile robots that are needed for a complete... Sample PDF
Robotic Bases
$37.50
Chapter 3
Probabilistic Bases  (pages 60-109)
This is the third chapter of the first section. It is a compendium of all the concepts and theorems of probability theory that are found in the... Sample PDF
Probabilistic Bases
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Chapter 4
Statistical Bases  (pages 110-138)
This is the fourth and last chapter of the first section. As chapter 3 introduced the mathematical tools of probability theory needed to understand... Sample PDF
Statistical Bases
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Chapter 5
Robot Motion Models  (pages 140-173)
This is the first chapter of the second section, a section devoted to mobile robot localization. Before presenting the general Bayesian framework... Sample PDF
Robot Motion Models
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Chapter 6
Sensor Models  (pages 174-202)
This is the second chapter of the second section. Analogously to chapter 5, here the authors study probabilistic models of sensors, which is the... Sample PDF
Sensor Models
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Chapter 7
In this last chapter of the second section, the authors present probabilistic solutions to mobile robot localization that bring together the... Sample PDF
Mobile Robot Localization with Recursive Bayesian Filters
$37.50
Chapter 8
This is the first chapter of the third section. It describes the kinds of mathematical models usable by a mobile robot to represent its spatial... Sample PDF
Maps for Mobile Robots: Types and Construction
$37.50
Chapter 9
This is the second chapter of the third section. It deals with the situation arising when neither the environment nor the exact localization of a... Sample PDF
The Bayesian Approach to SLAM
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Chapter 10
Advanced SLAM Techniques  (pages 336-389)
This chapter is the conclusion of the book. It is devoted to providing an overview of emerging paradigms that are appearing as outstanding the... Sample PDF
Advanced SLAM Techniques
$37.50
Appendix A
Appendix B
Appendix C
Appendix D
Appendix E
Appendix F
About the Contributors

Author(s)/Editor(s) Biography

Dr. Juan-Antonio Fernández-Madrigal holds a PhD in Computer Science and is tenured Associate Professor in the University of Málaga (Spain). He has been teaching since 1998 in graduate and post-graduate courses on real-time systems, control engineering and robotics. He has supervised PhD theses on cognitive robotics and probabilistic localization and mapping for mobile robots, and a relevant number of BSc and MSc theses on very diverse subjects. His research work has been developed mainly on different aspects of the modeling of the environment for mobile robots, cognitive robotics, and robotic software development. He has three books published internationally and nearly 80 scientific papers on these and other topics. He has been involved in different roles in regional, national and European research projects, and is co-inventor of several patents. Regarding his personal interests, they currently include programming, drawing and writing, having authored five sci-fi books in Spanish and more than a hundred short stories.
Dr. José Luis Blanco Claraco is a Lecturer in the University of Málaga (Spain), where he has taught in graduate courses on mechatronics and material science. He obtained a PhD on mobile robotics from the same university in 2009. His research interests include estimation theory, mobile robot navigation, large-scale map building and computer vision. Since 2005 he has participated in several national and European research projects, as well as research collaborations with private companies. As a result, he has published more than 40 scientific papers and is co-inventor of three patents and one utility model. He is also an active supporter of Open Source initiatives, having participated in more than 10 software projects, most remarkably in the Mobile Robot Programming Toolkit (MRPT), which he started in 2005 and still actively maintains at present. Among his non-academic interests, he collaborates in popular science blogs aimed at the Spanish speaking community.

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