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Full Description
The mobile robot systems described in this book were selected from among the best available implementations by leading universities and research laboratories. These are robots that have left the lab and been tested in natural and unknown environments. They perform many different tasks, from giving tours to collecting trash. Many have distinguished themselves (usually with first- or second-place finishes) at various indoor and outdoor mobile robot competitions. Each case study is self-contained and includes detailed descriptions of important algorithms, including pseudo-code. Thus this volume serves as a recipe book for the design of successful mobile robot applications. Common themes include navigation and mapping, computer vision, and architecture.ContributorsRonald Arkin, Tucker Balch, Michael Brady, Don Brutzman, Arno Bucken, R. James Firby, Erann Gat, Tony Healy, Ian Horswill, Housheng Hu, Sven Koenig, Kurt Konolige David Kortenkamp, Dave Marco, Bob McGhee, Robin Murphy, Karen Myers, Illah Nourbakhsh, Peter Prokopowicz, Bill Schiller, Reid Simmons, Michael Swain, Sebastian Thrun
Contents
Introduction - mobile robots - a proving ground for AI, R. Peter Bonasso et al. Part 1 Mapping and navigation: introduction, David Kortenkamp; map learning and high-speed navigation in RHINO, Sebastian Thrun et al; integrating high-speed obstacle avoidance, global path planning and vision sensing on a mobile robot, David Kortenkamp et al; Dervish - an office-navigating robot, Ilah Nourbackhsh; Xavier - a robot navigation architecture based on partially observable Markov decision process models, Sven Koenig and Reid G. Simmons. Part 2 Vision for mobile robots: introduction, Robin Murphy and David Kortenkamp; the Polly system, Ian Horswill; coordination and control of sensing for mobility using action-oriented perception, Robin R. Murphy; vehicle guidance architecture for combined lane tracking and obstacle avoidance, Bill Schiller et al. Part 3 Mobile robot architectures: introduction, R. Peter Bonasso; three-layer architectures, Erann Gat; the Saphira architecture for autonomous mobile robots, Kurt Konolige and Karen Myers; the animate agent architecture, R. James Firby et al; cooperative multiagent robotic systems, Ronald C. Arkin and Tucker Balch; toward advanced mobile robots for manufacturing, Huosheng Hu and Michael Brady; the "Phoenix" autonomous underwater vehicle, Don Brutzmann et al.
