book was originally written to record the content for my graduate
course in mobile robots - taught at the Robotics Institute since the
1990s. It is intended to be useful for both teaching and for engineers
who want a solid grounding in the fundamental topics of the field. Some
mathematics may be beyond undergraduate level, depending on your
background, but motivated readers with an undergraduate exposure to
STEM disciplines should be able to master the contents.
The book makes no attempt to survey all of the relevant literature or to inform researchers on latest developments and I could not possibly reference every paper that is relevant or even significant for each topic. The book is intended to capture at least some of what is durably fundamental about the theory and practice of mobile robotics.
The Publisher website for the book is www.cambridge.org/9781107031159 . There you will be able to preview its contents.
You can buy the book online (paper or ebook) at Amazon here: http://www.amazon.com/Mobile-Robotics-Mathematics-Models-Methods/dp/110703115X
|Math 1: Conventions, Matrices Transforms||Math 2: Kinematics: Mechanisms, Orientation, Angular Velocity||Math 3: Kinematics: Cameras and Rangefinders||Math 4: Transform Graphs and Pose Networks||Math 5: Quaternions|
|Num 1: Linearization and Optimization||Num 2: Systems of Equations, Nonlinear and Constrained Optimization||Num 3: Differential Algebraic Systems, ODE Integration|
|Dyn 1: Moving Coordinates, WMR Kinematics||Dyn 2: Constrained Kinematics and Dynamics||Dyn 3: Linear Dynamical Systems, System Identification|
|Unc 1: Random Variables, Processes, and Transformation||Unc 2: Covariance Propagation, Optimal Estimation||Unc 3: State Space Kalman Filters||Unc 4: Bayesian Estimation|
|StateEst 1: Mathematics of State Estimation||StateEst 2: Sensors for State Estimation||StateEst 3: Inertial Navigation Systems||StateEst 4: Satellite Navigation Systems|
|Ctrl 1: Classical Control||Ctrl 2: State Space Control||Ctrl 3: Optimal and Model Predictive Control||Ctrl 4: Intelligent Control|
|Perc 1: Image Processing Operators and Algorithms||Perc 2: Physics and Principles of Radiative Sensors||Perc 3: Sensors for Perception||Perc 4: Aspects of Geometric and Semantic Computer Vision|
|Map 1: Representation and Issues||Map 2: Visual Localization and Motion Estimation||Map 3: Simultaneous Localization and Mapping|
|Plan 1: Introduction||Plan 2: Representation and Search for Global Motion Planning||Plan 3: Real Time Global Motion Planningy|