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Handling Uncertainty and Networked Structure in Robot Control

✍ Scribed by Lucian Busoniu, Levente Tamás (eds.)

Publisher
Springer International Publishing
Year
2015
Tongue
English
Leaves
407
Series
Studies in Systems, Decision and Control 42
Edition
1
Category
Library
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✦ Synopsis

This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams.

Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com.

The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer vision, nonlinear and learning control, and multi-agent systems.

✦ Table of Contents

Front Matter....Pages i-xxviii
Front Matter....Pages 1-1
Robot Learning for Persistent Autonomy....Pages 3-28
The Explore–Exploit Dilemma in Nonstationary Decision Making under Uncertainty....Pages 29-52
Learning Complex Behaviors via Sequential Composition and Passivity-Based Control....Pages 53-74
Visuospatial Skill Learning....Pages 75-99
Front Matter....Pages 101-101
Observer Design for Robotic Systems via Takagi–Sugeno Models and Linear Matrix Inequalities....Pages 103-128
Homography Estimation Between Omnidirectional Cameras Without Point Correspondences....Pages 129-151
Dynamic 3D Environment Perception and Reconstruction Using a Mobile Rotating Multi-beam Lidar Scanner....Pages 153-180
RoboSherlock: Unstructured Information Processing Framework for Robotic Perception....Pages 181-208
Navigation Under Uncertainty Based on Active SLAM Concepts....Pages 209-235
Interactive Segmentation of Textured and Textureless Objects....Pages 237-262
Front Matter....Pages 263-263
Vision-Based Quadcopter Navigation in Structured Environments....Pages 265-290
Bilateral Teleoperation in the Presence of Jitter: Communication Performance Evaluation and Control....Pages 291-311
Decentralized Formation Control in Fleets of Nonholonomic Robots with a Clustered Pattern....Pages 313-333
Hybrid Consensus-Based Formation Control of Nonholonomic Mobile Robots....Pages 335-360
A Multi Agent System for Precision Agriculture....Pages 361-386
Back Matter....Pages 387-388

✦ Subjects

Control; Robotics and Automation; Artificial Intelligence (incl. Robotics)

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