Environment Learning for Indoor Mobile Robots A Stochastic State Estimation Approach to Simultaneous Localization and Map Building /

• Main Authors: Andrade-Cetto, Juan (Author), Sanfeliu, Alberto (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2006.
• Series: Springer Tracts in Advanced Robotics, 23
• Subjects: Engineering.; Artificial intelligence.; Computer graphics.; Control engineering.; Robotics.; Mechatronics.; Control.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Computer Imaging, Vision, Pattern Recognition and Graphics.

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots, such as estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the m...

Table of Contents:

• Simultaneous Localization and Map Building
• Marginal Filter Stability
• Suboptimal Filter Stability
• Unscented Transformation of Vehicle States
• Simultaneous Localization, Control and Mapping
• A: The Kalman Filter
• B: Concepts from Linear Algebra
• C: Sigma Points.