Introduction to Autonomous Robots

by Nikolaus Correll

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This book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping.

Description from LibreTexts.

Publisher
University of Colorado at Boulder
Subjects
Engineering, Mechanical Engineering
Licence
CC BY-NC 4.0, as LibreTexts states it. Non-commercial use only.
Who can read
Tweens profiles and older, judged from its title and subjects

Contents

LibreTexts writes equations in TeX, and here they show as TeX; the PDF has them typeset.

  1. Front Matter
  2. TitlePage
  3. InfoPage
  4. Table of Contents
  5. Licensing
  6. 1: Introduction
  7. 1.1: Intelligence and Embodiment
  8. 1.2: A Roboticists’ Problem
  9. 1.3: Ratslife
  10. 1.4: Challenges of Mobile Autonomous Robots
  11. 1.5: Challenges of Autonomous Manipulation
  12. 1.6: Exercises
  13. 2: Locomotion and Manipulation
  14. 2.1: Locomotion and Manipulation Examples
  15. 2.2: Static and Dynamic Stability
  16. 2.3: Degrees-of-Freedom
  17. 2.4: Exercises
  18. 3: Forward and Inverse Kinematics
  19. 3.1: Coordinate Systems and Frames of Reference
  20. 3.2: Forward kinematics of selected Mechanisms
  21. 3.3: Forward Kinematics using the Denavit-Hartenberg scheme
  22. 3.4: Inverse Kinematics of Selected Mechanisms
  23. 3.5: Inverse Kinematics using Feedback-Control
  24. 3.6: Exercises
  25. 4: Path Planning
  26. 4.1: Map Representations
  27. 4.2: Path-Planning Algorithms
  28. 4.3: Sampling-based Path Planning
  29. 4.4: Path Smoothing
  30. 4.5: Planning at different length-scales
  31. 4.6: Other Path-Planning Applications
  32. 4.7: Exercises
  33. 5: Sensors
  34. 5.1: Robotic Sensors
  35. 5.2: Proprioception of Robot Kinematics and Internal forces
  36. 5.3: Sensors Using Light
  37. 5.4: Sensors using Sound
  38. 5.5: Inertia-based Sensors
  39. 5.6: Beacon-based Sensors
  40. 5.7: Terminology
  41. 5.8: Exercises
  42. 6: Vision
  43. 6.1: Images as Two-Dimensional Signals
  44. 6.2: From Signals to Information
  45. 6.3: Basic Image Operations
  46. 6.4: Exercises
  47. 7: Feature Extraction
  48. 7.1: Feature Detection as an Information-Reduction Problem
  49. 7.2: Features
  50. 7.3: Line Recognition
  51. 7.4: Scale-Invariant Feature Transforms
  52. 7.5: Exercises
  53. 8: Uncertainty and Error Propagation
  54. 8.1: Uncertainty in Robotics as Random Variable
  55. 8.2: Error Propogation
  56. 8.3: Exercises
  57. 9: Localization
  58. 9.1: Motivating Example
  59. 9.2: Markov Localization
  60. 9.3: Particle Filter
  61. 9.4: The Kalman Filter
  62. 9.5: Extended Kalman Filter
  63. 9.6: Exercises
  64. 10: Grasping
  65. 10.1: The Theory of Grasping
  66. 10.2: Simple Grasping Mechanisms
  67. 10.3: How to Find Good Grasps?
  68. 10.4: Manipulation
  69. 10.5: Exercises
  70. 11: Simultaneous Localization and Mapping
  71. 11.1: Introduction
  72. 11.2: The Covariance Matrix
  73. 11.3: EKF SLAM
  74. 11.4: Graph-based SLAM
  75. 12: RGB-D SLAM
  76. 12.1: Converting Range Data into Point Cloud Data
  77. 12.2: The Iterative Closest Point (ICP) Algorithm
  78. 12.3: RGB-D Mapping
  79. 13: Trigonometry
  80. 13.1: Inverse trigonometry
  81. 13.2: Trigonometric Identities
  82. 14: Linear Algebra
  83. 14.1: Dot Product
  84. 14.2: Cross Product
  85. 14.3: Matrix Product
  86. 14.4: Matrix Inversion
  87. 14.5: Principal Component Analysis
  88. 15: Statistics
  89. 15.1: Random Variables and Probability Distributions
  90. 15.2: Conditional Probabilities and Bayes Rule
  91. 15.3: Sum of Two Random Processes
  92. 15.4: Linear Combinations of Independent Gaussian Random Variables
  93. 15.5: Testing Statistical Significance
  94. 16: How to Write a Research Paper
  95. 16.1: Original
  96. 16.2: Hypothesis- Or, What Do We Learn From this Work?
  97. 16.3: Survey and Tutorial
  98. 16.4: Writing it up!
  99. 17: Sample Curricula
  100. 17.1: An Introduction to Autonomous Mobile Robots
  101. 17.2: An Introduction to Autonomous Manipulation
  102. 17.3: Class Debates
  103. Back Matter
  104. Index
  105. Glossary
  106. Detailed Licensing