- Series: Intelligent Robotics and Autonomous Agents series
- Hardcover: 335 pages
- Publisher: The MIT Press (March 5, 2004)
- Language: English
- ISBN-10: 026219502X
- ISBN-13: 978-0262195027
- Product Dimensions: 7 x 0.8 x 9 inches
- Shipping Weight: 1.4 pounds
- Average Customer Review: 3 customer reviews
- Amazon Best Sellers Rank: #1,915,398 in Books (See Top 100 in Books)
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Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents series)
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"This book is easy to read and well organized. The idea of providing a robot functional architecture as an outline of the book, and then explaining each component in a chapter, is excellent. I think the authors have achieved their goals, and that both the beginner and the advanced student will have a clear idea of how a robot can be endowed with mobility."--Raja Chatila, LAAS - CNRS, France
"A robot is an uncertainty machine: its perception and decision-making capabilities must embed at their core the processes dealing with uncertainty. This book is an essential reference for the student, the teacher, and the researcher to understand the basics and the advanced methods of estimation theory, and the probabilistic models and processes underlying robot localization, SLAM, and decision making. A 'must have' textbook!"--Raja Chatila, LAAS - CNRS, FrancePlease note: Arrived too late to appear on book jacket.
From the Inside Flap
"This book is easy to read and well organized. The idea of providing a robot functional architecture as an outline of the book, and then explaining each component in a chapter, is excellent. I think the authors have achieved their goals, and that both the beginner and the advanced student will have a clear idea of how a robot can be endowed with mobility." --Raja Chatila, LAAS - CNRS, France
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I hope that sometime I might interest to read at least 1 or 2 page per day!
Chapter one is somewhat expendable, since it is simply a prosaic overview of the entire text. Chapter two talks about the theory of robot motion at a high level, with few helpful technical details. Chapter three, "Mobile Robot Kinematics", is where the book takes a dramatic upturn in quality. The computations of robot kinematics are discussed in detail for several kinds of robotic wheels. To really understand this chapter, the reader should already be familiar with dynamics and statics as well as the concepts of three dimensional rotation and matrices. For a companion to the kinematic material, I suggest Craig's "Introduction to Robotics: Mechanics and Control (3rd Edition)". It is much better than the reviewers say. Chapter four covers the various sensors used in robotics, as well as the mathematics needed in the integration of those sensors. The chapter concludes with some basic image processing and computer vision techniques. The material here is broad but somewhat shallow. I suggest that you already be familiar with basic image processing techniques and computer vision, or possibly have a copy of Gonzales & Woods "Digital Image Processing" handy, as well as a copy of Trucco & Verri's "Introductory Techniques for 3D Computer Vision". This is especially true if you wish to grasp some of the statistical techniques at the end of chapter four. Chapters five and six, on localization and navigation, respectively, are mathematically deep. The material on the Kalman Filter is somewhat oversimplified, and to truly grasp the subject of Kalman Filtering one will need to go to an outside source for a full tutorial. In my case, my instructor's notes were sufficient.
In summary, this is a very good book for someone who is mathematically mature enough to handle the computational aspects of mobile robotics. The reader should already understand dynamics, statics, numerical linear algebra, image processing, artificial intelligence, and computer vision. This book collects and connects all of these concepts well, but you will have to go digging elsewhere for the complete amount of detail required to perform all of the calculations for the methods described in this book. In short, computational robotics is a type of "capstone course" for engineers/computer scientists with the correct background and reference library, and for those engineers, this is the best guide published to date.