Jose A. Castellanos's Books

Mobile Robot Localization and Map Building

A Multisensor Fusion Approach

By: Jose A. Castellanos,Juan D. Tardós

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Mobile Robot Localization and Map Building

A Multisensor Fusion Approach

By: Jose A. Castellanos,Juan D. Tardós

During 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. The main problems described throughout this book are: Representation 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. A 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. The 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. 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.

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Page Count

212

Publisher

Springer Science & Business Media

Published Date

ISBN 10

146154405X

ISBN 13

9781461544050

Island Biogeography

Ecology, Evolution, and Conservation

By: Robert J. Whittaker,Jose Maria Fernandez-Palacios

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Island Biogeography

Ecology, Evolution, and Conservation

By: Robert J. Whittaker,Jose Maria Fernandez-Palacios

Island biogeography is the study of the distribution and dynamics of species in island environments. Due to their isolation from more widespread continental species, islands are ideal places for unique species to evolve, but they are also places of concentrated extinction. Not surprisingly, they are widely studied by ecologists, conservationists and evolutionary biologists alike. There is no other recent textbook devoted solely to island biogeography, and a synthesis of the many recent advances is now overdue. This second edition builds on the success and reputation of the first, documenting the recent advances in this exciting field and explaining how islands have been used as natural laboratories in developing and testing ecological and evolutionary theories. In addition, the book describes the main processes of island formation, development and eventual demise, and explains the relevance of island environmental history to island biogeography. The authors demonstrate the huge significance of islands as hotspots of biodiversity, and as places from which disproportionate numbers of species have been extinguished by human action in historical time. Many island species are today threatened with extinction, and this work examines both the chief threats to their persistence and some of the mitigation measures that can be put in play with conservation strategies tailored to islands.

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Page Count

426

Publisher

OUP Oxford

Published Date

ISBN 10

0191524166

ISBN 13

9780191524165

Ocular Surface Disorders

By: Jose M Benitez-del-Castillo,Michael A Lemp

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Ocular Surface Disorders

By: Jose M Benitez-del-Castillo,Michael A Lemp

Current knowledge of the epidemiology, clinical expression, pathophysiology and available medical and surgical therapy for ocular surface diseases, providing an invaluable text for ocular surface specialists, general ophthalmologists, optometrists and residents.

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Page Count

414

Publisher

JP Medical Ltd

Published Date

ISBN 10

1907816313

ISBN 13

9781907816314

Mathematical Topics in Fluid Mechanics

By: Jose Francisco Rodrigues,Adelia Sequeira

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Mathematical Topics in Fluid Mechanics

By: Jose Francisco Rodrigues,Adelia Sequeira

This Research Note presents several contributions and mathematical studies in fluid mechanics, namely in non-Newtonian and viscoelastic fluids and on the Navier-Stokes equations in unbounded domains. It includes review of the mathematical analysis of incompressible and compressible flows and results in magnetohydrodynamic and electrohydrodynamic stability and thermoconvective flow of Boussinesq-Stefan type. These studies, along with brief communications on a variety of related topics comprise the proceedings of a summer course held in Lisbon, Portugal in 1991. Together they provide a set of comprehensive survey and advanced introduction to problems in fluid mechanics and partial differential equations.

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Page Count

280

Publisher

CRC Press

Published Date

ISBN 10

1000115232

ISBN 13

9781000115239

Book's by Jose A. Castellanos

Mobile Robot Localization and Map Building

Mobile Robot Localization and Map Building

Island Biogeography

Island Biogeography

Ocular Surface Disorders

Ocular Surface Disorders

Mathematical Topics in Fluid Mechanics

Mathematical Topics in Fluid Mechanics

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