1 INTRODUCTION 概述 1.1 Uncertainty in Robotics 1.2 Probabilistic Robotics 1.3 Implications 1.4 Road Map 1.5 Bibliographical Remarks 2 RECURSIVE STATE ESTIMATION 递归状态估计 2.1 Introdution 2.2 Basic Concepts in Probablity 2.3 Robot Environment Interaction 机器人环境交互 2.4 Bayes Filters 贝叶斯滤波 3 GAUSSIAN FILTERS 4 NONPARAMETRIC FILTERS 5 ROBOT MOTION 6 MEASUREMENTS 7 MOBILE ROBOT LOCALIZATION 10 SIMULTANEOUS LOCALIZATION AND MAPPING