UID:
almahu_9949460120702882
Format:
1 online resource (169 p.)
ISBN:
3-86219-063-3
Note:
Summary in German.
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Thesis (doctoral)--University of Kassel, 2011.
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""Front cover ""; ""Titelseite ""; ""Impressum ""; ""Foreword""; ""Abstract""; ""Zusammenfassung""; ""Contents""; ""1 Introduction""; ""1.1 Uncertainty in Real World Robotics""; ""1.2 The Autonomous City Explorer Robot""; ""1.3 Contributions and Thesis Outline""; ""2 Simultaneous Localization Mapping and Tracking of Moving Objects""; ""2.1 Robot Motion""; ""2.1.1 Velocity Motion Model""; ""2.1.2 Odometry Motion Model""; ""2.2 Map Representations""; ""2.2.1 Feature-based representations""; ""2.2.2 Occupancy Grid Maps""; ""2.3 Simultaneous Localization And Mapping""; ""2.3.1 EKF-SLAM""
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""2.3.2 Rao-Blackwellized Grid-based SLAM""""2.4 Moving Object Tracking with Incrementally Constructed Maps""; ""2.4.1 Conditional Particle Filters""; ""2.4.2 Data Association""; ""2.5 Experimental Results""; ""2.6 Summary""; ""3 Autonomous Robotic Exploration with Active Sensing""; ""3.1 Related Work""; ""3.2 Information-Based Gaze Direction Planning for SLAM""; ""3.2.1 Measuring Information""; ""3.2.2 Planning Algorithm""; ""3.3 Combined Trajectory Planning and Gaze Direction Control""; ""3.3.1 Gaze Direction Control""; ""3.3.2 Motion Planning""; ""3.4 Results""
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""3.4.1 Gaze Direction Planning""""3.4.2 Combined Approach""; ""3.5 Conclusion""; ""4 Bayesian Framework for State Estimation and Behavior Selection""; ""4.1 Related Work""; ""4.2 Bayesian Framework""; ""4.2.1 Prediction""; ""4.2.2 Correction Step""; ""4.2.3 Estimation of Behavior Probabilities""; ""4.3 Application to Autonomous Robotic Exploration""; ""4.3.1 System Behavior Description""; ""4.3.2 Behavior Selection""; ""4.3.3 Behavior Selection Model""; ""4.4 Experimental Results""; ""4.5 Conclusion""; ""5 Learning Probabilistic Behavior Models from Humans""; ""5.1 Related Work""
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""5.2 Overview of the Proposed Learning Scheme""""5.3 Support Vector Machines""; ""5.3.1 Multi-Class Support Vector Machines""; ""5.3.2 Probability Estimates for Multi-Class Support Vector Machines""; ""5.4 Training the Classifier""; ""5.6 Conclusion""; ""5.5 Results""; ""6 The Autonomous City Explorer Robot""; ""6.1 System Description""; ""6.2 Navigation System of the ACE robot""; ""6.2.1 Processing Layer""; ""6.2.2 Control Layer""; ""6.2.3 Execution Layer""; ""6.3 System Interdependence Analysis""; ""6.3.1 Performance Indicators""; ""6.3.2 All Performance Indicators at a Glance""
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""6.3.3 Learning Bayesian Network Structure from Data""""6.3.4 Information-Theoretic Criteria""; ""6.3.5 Online Applicability""; ""6.4 Experimental Results""; ""6.4.1 Large-Scale Mapping of Urban Environments""; ""6.4.2 Path Planning and Robot Behaviors""; ""6.4.3 Interdependence Analysis""; ""6.5 Conclusion""; ""7 Conclusions and Future Directions""; ""7.1 Concluding Remarks""; ""7.2 Outlook""; ""Bibliography""; ""Back cover ""
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English
Additional Edition:
ISBN 3-86219-062-5
Language:
English
