{"product_id":"9780792377894","title":"Mobile Robot Localization and Map Building: A Multisensor Fusion Approach","description":"\u003ch1\u003eMobile Robot Localization and Map Building: A Multisensor Fusion Approach\u003c\/h1\u003e \u003ch2\u003eCastellanos, Jose A.; Tardós, Juan D.\u003c\/h2\u003e \u003cp\u003eDuring the last decade, many researchers have dedicated their  efforts to constructing revolutionary machines and to providing them  with forms of artificial intelligence to perform some of the most  hazardous, risky or monotonous tasks historically assigned to human  beings. Among those machines, mobile robots are undoubtedly at the  cutting edge of current research directions. A rough classification of  mobile robots can be considered: on the one hand, mobile robots  oriented to human-made indoor environments; on the other hand, mobile  robots oriented to unstructured outdoor environments, which could  include flying oriented robots, space-oriented robots and underwater  robots. The most common motion mechanism for surface mobile robots is  the wheel-based mechanism, adapted both to flat surfaces, found in  human-made environments, and to rough terrain, found in outdoor  environments. However, some researchers have reported successful  developments with leg-based mobile robots capable of climbing up  stairs, although they require further investigation. The research work  presented here focuses on wheel-based mobile robots that navigate in  human-made indoor environments. \u003cbr\u003e  The main problems described throughout this book are: \u003c\/p\u003e\u003cul\u003e  \u003cli\u003eRepresentation and integration of uncertain geometric  information by means of the Symmetries and Perturbations Model  (SPmodel). This model combines the use of probability theory to  represent the imprecision in the location of a geometric element, and  the theory of symmetries to represent the partiality due to  characteristics of each type of geometric element. \u003c\/li\u003e  \u003cli\u003eA solution to  the first location problem, that is, the computation of an estimation  for the mobile robot location when the vehicle is completely lost in  the environment. The problem is formulated as a search in an  interpretation tree using efficient matching algorithms and geometric  constraints to reduce the size of the solution space. \u003c\/li\u003e  \u003cli\u003eThe book  proposes a new probabilistic framework adapted to the problem of  simultaneous localization and map building for mobile robots: the  Symmetries and Perturbations Map (SPmap). This framework has been  experimentally validated by a complete experiment which profited from  ground-truth to accurately validate the precision and the  appropriateness of the approach.\u003c\/li\u003e  \u003c\/ul\u003e    The book emphasizes the  generality of the solutions proposed to the different problems and  their independence with respect to the exteroceptive sensors mounted  on the mobile robot. Theoretical results are complemented by real  experiments, where the use of multisensor-based approaches is  highlighted. \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 2000-03-31\u003c\/p\u003e \u003cp\u003eFormat: Hardcover\u003c\/p\u003e \u003cp\u003eISBN-13: 9780792377894\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-1-4615-4405-0\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 205\u003c\/p\u003e ","brand":"Springer US","offers":[{"title":"Default Title","offer_id":47185147396236,"sku":"9780792377894","price":152.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9780792377894.jpg?v=1775012573","url":"https:\/\/fh90cf-fv.myshopify.com\/products\/9780792377894","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}