Dudek G., Jenkin M. Computational Principles of Mobile Robotics

2nd edition, Cambridge University Press, New York, 2010, 391 pages, ISBN: 0521692121 , 0521871573Mobile robotics is a multidisciplinary field involving both computer science and engineering. Addressing the design of automated systems, it lies at the intersection of artificial intelligence, computational vision, and robotics. This textbook for advanced undergraduates and graduate students emphasizes algorithms for a range of strategies for locomotion, sensing, and reasoning. It concentrates on wheeled and legged mobile robots but discusses a variety of other propulsion systems.The new edition includes advances in robotics and intelligent machines over the last ten years, including significant coverage of SLAM (simultaneous localization and mapping) and multi-robot systems. It includes additional mathematical background and an extensive list of sample problems. Various mathematical techniques that were assumed in the first edition are now briefly introduced in appendices at the end of the text to make the book more self-contained. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.Overview and Motivation
Fundamental ProblemsLocomotion and Perception
Mobile Robot Hardware
Non-Visual Sensors and Algorithms
Visual Sensors and AlgorithmsRepresentation and Planning
Representing and Reasoning About Space
System Control
Pose Maintenance and Localization
Mapping and Related Tasks
Robot Collectives
Robots in Practice
The Future of Mobile Robotics