Index
Note: Page numbers followed by f indicate figures, t indicate tables and b indicate boxes.
A
Absolute sensors
207
Adaptive and Generic Accelerated Segment Test (AGAST)
277
Aerial mobile systems
4
Autonomous guided vehicles (AGVs)
transportation vehicles
control
392
decision making
392
localization and mapping
390–391
path planning
392
sensors
389–390
wheeled mobile system
in agriculture
393–398
in domestic environments
403–410
in industry
399–403
in walking rehabilitation therapy
410–416
Autonomous mobile systems
aerial mobile systems
4
applications
6–7
commands
5
future aspects
7
ground mobile systems
4
history of
7–9
mechanical and electronic parts
6
properties
6
water and underwater mobile systems
4
B
Bayesian filter
environment sensing
320–325
localization
in environment
332–337
principle
318–320
motion, in environment
326–332
Bayesian theorem
312
Behavior-based agent operation
458–459
Brockett’s condition
91–92
C
Cascade control schemas
61–62
Cathetus
75
Chow’s theorem
44
Closed list
192–193
Closed-loop transfer function
63–65
Collision detection methods
180–181
Color sensor calibration
443–444
Configuration space
163–164
Control algorithm
reference pose
Control error
63
Controllability
44–47
Controller gains
102–103
Coordinate frame transformations
orientation and rotation
208–217
projective geometry
221–230
rotating frames
219–221
translation and rotation
217–218
Cost-to-goal
199
D
DCM
See
Direction cosine matrix (DCM)
inertial navigation system
232–239
odometry
231–232
Decomposing control
feedback action
91–94
feedforward
91–94
Decomposition to cells
reachable velocities and motion constraints
36b
Differentially driven wheeled mobile robot
PDC control of
125
Takagi-Sugeno fuzzy error model of
122–124
Distribution
definition
35
involutive
36
Dynamic constraints
32–33
Dynamic environment
161–162
E
Environment sensing
320–325
Epipolar constraint
224–225
Essential matrix
224–225
Estimate convergence and bias
300–301
Euler angles
209–210
Euler integration method
421–423
Extended Kalman filter (EKF)
351–374
External kinematic model
232
Exteroceptive sensors
286
F
Feedback action
91–94
Feedback control part
61
flat outputs
94
reference trajectory
95–96
state-space representation
95–96
translational velocity
95–96
Feedforward
91–94
Flat outputs
92–93
Forward-motion control
reference point
67
translational velocity
66–67
Four-state error model
117–122
Frequency spectrum
300
Frobenious theorem
39
Fundamental matrix
224–225
Future reference error
127–128
G
Gaussian function
293–294
Gaussian noise
351
Graph-based path planning methods
Ground mobile systems
4
H
Heading measurement systems
239–240
Histogram filter
375
Holonomic constraints
32–34
Hue-saturation-lightness (HSL)
270–271
I
Image-based visual servoing (IBVS)
465–466
Image features, camera
268–282
Inertial navigation system (INS)
232–239
motion sensors
232–233
pose error
233
rotation sensors
232–233
self-contained technique
232–233
signal-to-noise ratio
233
unit angular rate
233–234
Information filter
375
Informed algorithms
193
Infrared light sensor
420–421
INS
See
Inertial navigation system (INS)
Instantaneous center of rotation (ICR)
14
Internal camera model
222–223
J
Joint probability
290
K
Kalman-Bucy filter
375
continuous variable, probability distribution of
338f
correction covariance matrix
348
derivatives
374–375
extended
351–374
Gaussian function
338
Gaussian noise
346
for linear system
346–347
in matrix form
345–351
prediction step of
342–344
state estimation
337
updated state variance
341–342
Kalman observability matrix
303
Kinematic constraints
32–33
Kinematic model
13
external kinematics
14
instantaneous center of rotation (ICR)
14
internal kinematics
13–14
motion constraints
14
omnidirectional drive
27–31
tracked drive
31–32
L
Laser range finder (LRF)
254–255
Least squares method
254
Lie brackets
36
Lie derivative operator
302–303
Linear formation, vehicle control
laser range finder (LRF)
447–448
localization, using odometry
448–449
virtual train formation
447
Linear matrix inequality (LMI)
122
Line-extraction algorithms
254
Localization
332
algorithm
318–319
Bayesian filter
in environment
332–337
extended Kalman filter (EKF)
correction step
438–439
global navigation satellite system (GNSS)
433
prediction step
435–438
particle-filter-based
colored tiles
440–447
manual control
442
wheel odometry
442–443
Local weak observability
302–303
Locomotion
13
LRF
See
Laser range finder (LRF)
Lyapunov-based control design
105–122
four-state error model
117–122
periodic control law design
112–117
stability
control design in
106–112
Lyapunov stability
106
control design in
106–112
M
Machine vision algorithms
279–280
Manhattan distance
199–200
Manual control
442
Maps
282–283
Maximally Stable Extremal Regions (MSER)
277–278
Memory usage
168–169
Mobile
2–3
Mobile robot
image-based control of
image-based visual servoing (IBVS)
465–466
natural image features
466
position-based visual servoing (PBVS)
463–465
path planning of
Motion
constraints
controllability
44–47
dynamic constraints
32–33
holonomic constraints
32–34
integrability
35
kinematic constraints
32–33
lie bracket
35–44
nonholonomic constraints
32–35
vector fields and distribution
35–44
control
in environment
326–332
sensors
232–233
Motion models
constraints
controllability
44–47
dynamic constraints
32–33
holonomic constraints
32–34
integrability
35
kinematic constraints
32–33
Lie bracket
35–44
nonholonomic constraints
32–35
vector fields and distribution
35–44
dynamic models
13
dynamic motion model with constraints
differential drive vehicle
51–58
Lagrange formulation
48
state-space representation
49–50
kinematic model
external kinematics
14
instantaneous center of rotation (ICR)
14
internal kinematics
13–14
motion constraints
14
omnidirectional drive
27–31
tracked drive
31–32
Multiagent soccer robots
behavior-based agent operation
458–459
obstacle avoidance
458
Multiview geometry
224–228
N
Natural local image features
269–270
Nodes
Noise linearization
352
Noise modeling
439
Nondeterministic events, in mobile systems
Bayesian filter
environment sensing
320–325
localization, in environment
332–337
localization principle
318–320
motion, in environment
326–332
state estimation
304–318
Kalman filter
derivatives
374–375
extended
351–374
in matrix form
345–351
probability
Bayes’ rule
295–299
state estimation
disturbances and noise
299–300
estimate convergence and bias
300–301
observability
301–303
Noninformed algorithms
193
Nonlinear tracking error model
123–124
O
Objective function
132–133
Observability
301–303
rank condition
302–303
Obstacle avoidance
458
Occupancy grid
168
drifting
443
Omnidirectional drive
four-wheel Mecanum drive
28–30
Open list
192
friction force
148–149
radial acceleration
148–150
reference path
148
reference trajectory
151
tangential acceleration
148–150
velocity profile
148
Orientation and rotation
Euler angles
209–210
quaternions
210–217
Orientation control
63–66
for Ackermann drive
65–66
for differential drive
63–65
Orientation error
65–66
P
Parallel distributed compensation (PDC)
122
Parallel projection
221
Parameterization
210
Bayesian filter
375
Gaussian probability distribution
377
in prediction part
377
probability distribution
376
Particle measurement prediction
from known robot motion
468
model predictive control (MPC)
138–141
Path planning
graph-based path planning methods
roadmap
sampling-based path-planning
simple path planning algorithms
Periodic control law design
112–117
Pole placement approach
102–103
Pose error
233
Pose measurement methods
active markers measurement
240–252
dead reckoning
231–239
environmental features, navigation using
253–282
global position measurement
240–252
heading measurement systems
239–240
maps
282–283
Position-based visual servoing (PBVS)
463–465
Probability
Bayes’ rule
295–299
Projective geometry
221–230
3D reconstruction
228–230
internal camera model
222–223
multiview geometry
224–228
parallel projection
221
perspective projection
221
singular cases
228
Proportional controller
85
Proprioceptive sensors
286
Q
R
Random Sample Consensus (RANSAC) method
280–282
Reference orientation
84–85
Reference pose, control to
forward-motion control
66–70
orientation control
for Ackermann drive
65–66
for differential drive
63–65
reference position
70–71
Reference trajectory
126
Relative sensors
207
Roadmap
Robot(s)
1–2
Robot environment
free space
161–162
path planning purposes
Robot kidnapping
447
Robot-tracking prediction-error vector
128
Rossum’s Universal Robots (R.U.R.)
1
Rotation matrix
Matlab implementations
rotZ function
237
orientation and rotation
208–217
translation and rotation
217–218
Rotation sensors
232–233
S
Sampling-based path-planning
Scale invariant feature transform (SIFT)
277
Self-contained technique
232–233
Sensors
289
absolute sensors
207
characteristics
284–286
classifications
286–287
coordinate frame transformations
orientation and rotation
208–217
projection
221–230
rotating frames
219–221
translation and rotation
217–218
pose measurement methods
active markers and global position measurement
240–252
dead reckoning
231–239
features
253–282
heading measurement systems
239–240
maps
282–283
relative sensors
207
Signal distribution
300
Signal-to-noise ratio (SNR)
233
Simple path planning algorithms
Simultaneous localization and mapping (SLAM)
253
Smooth time-invariant feedback
91–92
Speeded-Up Robust Features (SURF)
277
Speedup algorithms
271–273
State estimation
Bayesian filter
from observations and actions
311–318
disturbances and noise
299–300
estimate convergence and bias
300–301
observability
301–303
State transition graph
166
Static environment
161–162
Stochastic optimization
132–133
Straight-line features
254–268
T
Takagi-Sugeno fuzzy control design
122–125
3D reconstruction, stereo camera configuration
228–230
Total probability theorem
313
Trajectory tracking control
feedback action
91–94
feedforward
91–94
kinematic trajectory-tracking error model
100–101
linear controller
101–105
Lyapunov-based control design
105–122
model-based predictive control (MPC)
125–132
particle swarm optimization-based control (PSO)
132–141
Takagi-Sugeno fuzzy control design
122–125
visual servoing (VS) approaches
142–147
Transfer function
63–65
Translational velocity, Cartesian components of
92–93
Translation and rotation
217–218
Trapezoidal numerical integration
232
Tricycle robot
2D Gaussian function
293–294
Two-line element set (TLE)
251
U
Unscented Kalman filter
374
V
Vector fields
35
Vehicle kinematic model
46–47
Velocity command
71
camera retreat
142
control error
142
features
142
hybrid VS
142–143
image-based visual servoing (IBVS)
142–143
interaction matrix
143–144
Lyapunov function
144–145
position-based visual servoing (PBVS)
142–143
velocity controller
143–144
in Matlab
174–176b
W
Water and underwater mobile systems
4
Wheeled mobile system
in agriculture
control strategies
397–398
localization, mapping, and slam
397
planning routes and scheduling
398
service unit setup
394–397
in domestic environments
control
408–409
decision making
409–410
localization and mapping
407
path planning
408
sensors
405–407
in industry
control
402–403
decision making
403
localization and mapping
401–402
path planning
403
sensors
401
motion control of
optimal velocity profile estimation
148–157
to reference pose
62–87
trajectory tracking control
88–147
in walking rehabilitation therapy
control
414–415
localization and mapping
414
path planning
415–416
sensors
412–414
Wheel odometry
442–443
kinematic model of
436
White noise
299–300