Dudek, Gregory
Description
Emphasizing computation and algorithms, the authors of this book address a range of strategies for enabling robots to perform tasks that involve motio
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n and behavior. It is divided into three major sections: locomotion; sensing; and reasoning. It concentrates on wheeled and legged mobile robots, but discusses a variety of other propulsion systems. Kinematic models are developed for many of the more common locomotive strategies. It presents algorithms for both visual and nonvisual sensor technologies, including sonar, vision, and laser scanners. In the section on reasoning, the authors offer a thorough examination of planning and the issues related to spatial representation. They emphasize the problems of navigation, pose estimation, and autonomous exploration.
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