This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
This monograph describes a new family of algorithms for the simultaneous localization and mapping (SLAM) problem in robotics, called FastSLAM. The FastSLAM-type algorithms have enabled robots to acquire maps of unprecedented size and accuracy, in a number of robot application domains and have been successfully applied in different dynamic environments, including a solution to the problem of people tracking.
This pioneering book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. This is the first research to test existing models of rodent spatial mapping and navigation on robots in large, challenging, real world environments.
Business, academia, industry, and the military require well trained personnel to function in highly complex working environments. To reduce high training costs and to improve the effectiveness of training, training system developers often use sophisticated training media such as, simulators, videodisks, and computer-based instruction. The designers of these training media are continually striving to provide maximum training effectiveness at minimum cost. Although literature is available on the implementation and use of specific training media, there is little guidance on a major feature that is central to these media. All of these media present the learner with an interactive simulation of the real world. Effective training system design can be facilitated if the requirements of the real-world task are properly included in training. A conceptual bridge is necessary to link these actual task requirements to the characteristics of the training system. This book provides such a conceptual bridge. The need for improved training is critical in the area of equipment operation, maintenance, and decision making tasks. For example, the importance of improved operator training in the nuclear power industry has become paramount since the Three Mile Island accident and the more serious accident at the Chernobyl reactor in the U. S. S. R. Technology, such as the availability and power of computers,offers a wider variety of training options, but requires additional training system design decisions.
The comprehension of a traffic situation plays a major role in driving a vehicle. Interpretable information forms a basis for future projection, decision making and action performing, such as navigating, maneuvering and driving control. Michael Huelsen provides an ontology-based generic traffic situation description capable of supplying various advanced driver assistance systems with relevant information about the current traffic situation of a vehicle and its environment. These systems are enabled to perform reasonable actions and approach visionary goals such as injury and accident free driving, substantial assistance in arbitrary situations up to even autonomous driving.
This book presents current and anticipated quantitative values for a wide range of cirtical figures of merit which characterize technological capabilities in the major discipline areas of space technology. The projections are based on historical data and the considered opinions of knowledgable experts in government and industry who are active contributors in their respective fields.
Beginning in the mid 1980's, VLSI technology had begun to advance in two directions. Pushing the limit of integration, ULSI (Ultra Large Scale Integration) represents the frontier of the semiconductor processing technology in the campaign to conquer the submicron realm. The application of ULSI, however, is at present largely confined in the area of memory designs, and as such, its impact on traditional, microprocessor-based system design is modest. If advancement in this direction is merely a natural extrapolation from the previous integration generations, then the rise of ASIC (Application-Specific Integrated Circuit) is an unequivocal signal that a directional change in the discipline of system design is in effect. In contrast to ULSI, ASIC employs only well proven technology, and hence is usually at least one generation behind the most advanced processing technology. In spite of this apparent disadvantage, ASIC has become the mainstream of VLSI design and the technology base of numerous entrepreneurial opportunities ranging from PC clones to supercomputers. Unlike ULSI whose complexity can be hidden inside a memory chip or a standard component and thus can be accommodated by traditional system design methods, ASIC requires system designers to master a much larger body of knowledge spanning from processing technology and circuit techniques to architecture principles and algorithm characteristics. Integrating knowledge in these various areas has become the precondition for integrating devices and functions into an ASIC chip in a market-oriented environment. But knowledge is of two kinds.
This consistent and comprehensive text is unique in providing an informed insight into molecular electronics by contrasting the prospects for molecular scale electronics with the continuing development of the inorganic semiconductor industry. Providing a wealth of information on the subject from background material to possible applications, Molecular Electronics contains all the need to know information in one easily accessible place. Speculation about future developments has also been included to give the whole picture of this increasingly popular and important topic.
Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.
Given a stationary state-space model that relates a sequence of hidden states and corresponding measurements or observations, Bayesian filtering provides a principled statistical framework for inferring the posterior distribution of the current state given all measurements up to the present time. For example, the Apollo lunar module implemented a Kalman filter to infer its location from a sequence of earth-based radar measurements and land safely on the moon. To perform Bayesian filtering, we require a measurement model that describes the conditional distribution of each observation given state. The Kalman filter takes this measurement model to be linear, Gaussian. Here we show how a nonlinear, Gaussian approximation to the distribution of state given observation can be used in conjunction with Bayes’ rule to build a nonlinear, non-Gaussian measurement model. The resulting approach, called the Discriminative Kalman Filter (DKF), retains fast closed-form updates for the posterior. We argue there are many cases where the distribution of state given measurement is better-approximated as Gaussian, especially when the dimensionality of measurements far exceeds that of states and the Bernstein—von Mises theorem applies. Online neural decoding for brain-computer interfaces provides a motivating example, where filtering incorporates increasingly detailed measurements of neural activity to provide users control over external devices. Within the BrainGate2 clinical trial, the DKF successfully enabled three volunteers with quadriplegia to control an on-screen cursor in real-time using mental imagery alone. Participant “T9” used the DKF to type out messages on a tablet PC. Nonstationarities, or changes to the statistical relationship between states and measurements that occur after model training, pose a significant challenge to effective filtering. In brain-computer interfaces, one common type of nonstationarity results from wonkiness or dropout of a single neuron. We show how a robust measurement model can be used within the DKF framework to effectively ignore large changes in the behavior of a single neuron. At BrainGate2, a successful online human neural decoding experiment validated this approach against the commonly-used Kalman filter.
Now in its third edition, this textbook is a comprehensive introduction to the multidisciplinary field of mobile robotics, which lies at the intersection of artificial intelligence, computational vision, and traditional robotics. Written for advanced undergraduates and graduate students in computer science and engineering, the book covers algorithms for a range of strategies for locomotion, sensing, and reasoning. The new edition includes recent advances in robotics and intelligent machines, including coverage of human-robot interaction, robot ethics, and the application of advanced AI techniques to end-to-end robot control and specific computational tasks. This book also provides support for a number of algorithms using ROS 2, and includes a review of critical mathematical material and an extensive list of sample problems. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.
This volume includes highlights of the theories and experimental findings that underlie essential phenomena occurring in quantum-based devices and systems as well as the principles of operation of selected novel quantum-based electronic devices and systems. A number of the emerging approaches to creating new types of quantum-based electronic devices and systems are also discussed.
Giotto (1334) is the first European artist about whom it is possible to write following the schema of "life and work". The situation of the sources, however, is complicated: On Giotto's life, there are – on the one hand – biographical accounts from the mid-fourteenth century onwards that responded to various ideological requirements (patriotism, humanism, Renaissance ideology, cult of the artist); on the other, there is extensive documentary material from Giotto's lifetime, which seems to reflect less the biography of an artist than that of a bourgeois businessman resolutely climbing the social ladder. The present volume focuses on this second aspect of the Giotto figure's double life relating it to the form of existence of the pre-modern artist.
Vol. 1: Life Giotto (1334) is the first European artist about whom it is possible to write following the schema of "life and work". The situation of the sources, however, is complicated: On Giotto's life, there are – on the one hand – biographical accounts from the mid-fourteenth century onwards that responded to various ideological requirements (patriotism, humanism, Renaissance ideology, cult of the artist); on the other, there is extensive documentary material from Giotto's lifetime, which seems to reflect less the biography of an artist than that of a bourgeois businessman resolutely climbing the social ladder. The present volume focuses on this second aspect of the Giotto figure's double life relating it to the form of existence of the pre-modern artist. Vol. 2: Works The paintings examined and contextualised in this volume are those secured for Giotto through early written sources. These sources also help to reconstruct the sequence of his works and artistic inventions as is plausible in the context of media culture in the decades around and after 1300: while Giotto was spiritually and intellectually formed in the sphere of the Florentine Dominicans, his artistic path began in Rome in the shadow of the Curia. The breakthrough to his own artistic concept came immediately before and during his work in Padua. In addition to prominent churchmen, ecclesiastical institutions, and the King of Naples, his clients were predominantly members of Italy's urban and financial elites. The adoption and further development of his inventions by other - especially Sienese - painters pressured him in his later years to try new approaches again. Vol. 3: Survival Giotto is considered by many to be the founder of modern painting. This thesis is discussed and modified in the present volume on an empirical basis. What emerges is that Giotto's impact cannot be reduced simply to the introduction of the study of nature. Rather, his art was involved in the development of pictorial idioms that were attuned to the skills and interests of their audiences. The new approaches in his painting contributed in particular to the possibility of examining and communicating psychological, narrative and allegorical content of great complexity outside the media of language and text, which not only changed the face of European art but certainly contributed to the intellectual opening of Western societies.
An introduction to the interdisciplinary subject of molecular electronics, revised and updated The revised second edition of Organic and Molecular Electronics offers a guide to the fabrication and application of a wide range of electronic devices based around organic materials and low-cost technologies. Since the publication of the first edition, organic electronics has greatly progressed, as evidenced by the myriad companies that have been established to explore the new possibilities. The text contains an introduction into the physics and chemistry of organic materials, and includes a discussion of the means to process the materials into a form (in most cases, a thin film) where they can be exploited in electronic and optoelectronic devices. The text covers the areas of application and potential application that range from chemical and biochemical sensors to plastic light emitting displays. The updated second edition reflects the recent progress in both organic and molecular electronics and: Offers an accessible resource for a wide range of readers Contains a comprehensive text that covers topics including electrical conductivity, optical phenomena, electroactive organic compounds, tools for molecular electronics and much more Includes illustrative examples based on the most recent research Presents problems at the end of each chapter to help reinforce key points Written mainly for engineering students, Organic and Molecular Electronics: From Principles to Practice provides an updated introduction to the interdisciplinary subjects of organic electronics and molecular electronics with detailed examples of applications.
The study of multi-agent systems (MAS) focuses on systems in which many intelligent agents interact with each other. These agents are considered to be autonomous entities such as software programs or robots. Their interactions can either be cooperative (for example as in an ant colony) or selfish (as in a free market economy). This book assumes only basic knowledge of algorithms and discrete maths, both of which are taught as standard in the first or second year of computer science degree programmes. A basic knowledge of artificial intelligence would useful to help understand some of the issues, but is not essential. The book’s main aims are: To introduce the student to the concept of agents and multi-agent systems, and the main applications for which they are appropriate To introduce the main issues surrounding the design of intelligent agents To introduce the main issues surrounding the design of a multi-agent society To introduce a number of typical applications for agent technology After reading the book the student should understand: The notion of an agent, how agents are distinct from other software paradigms (e.g. objects) and the characteristics of applications that lend themselves to agent-oriented software The key issues associated with constructing agents capable of intelligent autonomous action and the main approaches taken to developing such agents The key issues in designing societies of agents that can effectively cooperate in order to solve problems, including an understanding of the key types of multi-agent interactions possible in such systems The main application areas of agent-based systems
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