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PROBABILISTIC ROBOTICS 2005 (H)

△看放大圖
ISBN: 9780262201629
類別: 機械工程與材料Mechanical / Materials Engineering
出版社: MIT PRESS
作者: THRUN
年份: 2005
裝訂別: 精裝
頁數: 668
定價: 1,520
售價: 1,368
原幣價: USD 75.74
狀態: 正常
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, http://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.

Table of Contents

Preface xvii

Acknowledgments xix

I Basics 1

1 Introduction 3

2 Recursive State Estimation 13

3 Gaussian Filters 39

4 Nonparametric Filters 85

5 Robot Motion 117

6 Robot Perception 149

II Localization 189

7 Mobile Robot Localization: Markov and Gaussian 191

8 Mobile Robot Localization: Grid And Monte Carlo 237

III Mapping 279

9 Occupancy Grid Mapping 281

10 Simultaneous Localization and Mapping 309

11 The GraphSLAM Algorithm 337

12 The Sparse Extended Information Filter 385

13 The FastSLAM Algorithm 437

IV Planning and Control 485

14 Markov Decision Process 487

15 Partially Observable Markov Decision Processes 513

16 Approximate POMDP Techniques 547

17 Exploration 569

Bibliography 607

Index 639
Springer 國外現貨
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