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    연구동향집 이미지

    Mobile Robotics

    Nehmzow, ULRICH|2003.03.31

    INTRODUCTION 1(7)
    FOUNDATIONS 7(18)
    DEFINITIONS 7(4)
    APPLICATIONS OF MOBILE ROBOTS 11(1)
    HISTORY OF MOBILE ROBOTICS: EARLY IMPLEMENTATIONS 11(2)
    HISTORY OF MOBILE ROBOTICS: CONTROL PARADIGMS 13(9)
    FURTHER READING 22(3)
    ROBOT HARDWARE 25(22)
    INTRODUCTION 25(1)
    ROBOT SENSORS 25(16)
    ROBOT ACTUATORS 41(2)
    EXAMPLE: THE MOBILE ROBOT FORTY TWO 43(1)
    THE NEED FOR SENSOR SIGNAL INTERPRETATION 44(1)
    FURTHER READING 45(2)
    ROBOT LEARNING: MAKING SENSE OF RAW SENSOR DATA 47(48)
    INTRODUCTION 47(6)
    LEARNING METHODS IN DETAIL 53(22)
    FURTHER READING ON LEARNING METHODS 75(1)
    CASE STUDIES OF LEARNING ROBOTS 76(18)
    EXERCISE: A TARGET-FOLLOWING, OBSTACLE-AVOIDING ROBOT 94(1)
    NAVIGATION 95(72)
    PRINCIPLES OF NAVIGATION 95(6)
    FUNDAMENTAL NAVIGATION STRATEGIES OF ANIMALS AND HUMANS 101(11)
    ROBOT NAVIGATION 112(5)
    CASE STUDIES OF NAVIGATING ROBOTS 117(50)
    NOVELTY DETECTION 167(16)
    MOTIVATION 167(2)
    APPROACHES TO NOVELTY DETECTION 169(2)
    CASE STUDY ON NOVELTY DETECTION 171(9)
    SUMMARY 180(3)
    SIMULATION: MODELLING ROBOT-ENVIRONMENT INTERACTION 183(16)
    MOTIVATION 183(1)
    FUNDAMENTALS OF COMPUTER SIMULATION 184(5)
    ALTERNATIVES TO NUMERICAL MODELS 189(2)
    CASE STUDY ON SIMULATION OF ROBOT-ENVIRONMENT INTERACTION 191(8)
    ANALYSIS OF ROBOT BEHAVIOUR 199(50)
    MOTIVATION 199(2)
    STATISTICAL ANALYSIS OF ROBOT BEHAVIOUR 201(13)
    CASE STUDIES OF PERFORMANCE EVALUATION AND ANALYSIS 214(32)
    SUMMARY 246(3)
    OUTLOOK 249(6)
    ACHIEVEMENTS 249(1)
    REASONS FOR SUCCESS 250(1)
    CHALLENGES 251(2)
    THE BEGINNING 253(1)
    FURTHER READING 254(1)
    ANSWERS TO EXERCISES 255(8)
    SONAR SENSORS 255(1)
    ROBOT LEARNING 256(2)
    ERROR CALCULATIONS AND CONTINGENCY TABLE ANALYSIS 258(2)
    ANALYSIS OF CATEGORICAL DATA 260(3)
    LIST OF EXERCISES AND CASE STUDIES 263(2)
    REFERENCES 265(8)
    INDEX 273

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