Probabilistic Robotics - Pomona

ProbabilisticRoboticsProbabilisticRoboti csSebastianThrunWolframBurgardDieterFoxT heMITP ressCambridge,MassachusettsLondon,Englan d 2006 MassachusettsInstituteofTechnologyAll rights reserved. No part of this book may be reproduced in any form by anyelectronic or mechanical means (including photocopying, recording, or informationstorageandretrieval) use. For information, please email orwrite to Special Sales Department, The MIT Press, 55 Hayward Street, Cambridge, . ,Sebastian,1967 Probabilisticrobotics/SebastianThrun,Wol framBurgard, (Intelligentroboticsandautonomousagentss eries) : 978-0-262-20162-9( )1. Robotics . 2. Probabilities. ,Wolfram. ,Dieter. 92 dc222005043346109876563 Brief ContentsI Basics 11 Introduction32 Recursive State Estimation133 Gaussian Filters394 Nonparametric Filters855 Robot Motion1176 Robot Perception149II Localization1897 Mobile Robot Localization: Markov and Gaussian1918 Mobile Robot Localization: Grid And Monte Carlo237 III Mapping 2799 Occupancy Grid Mapping28110 Simultaneous Localization and Mapping30911 The GraphSLAM Algorithm33712 The Sparse Extended Information Filter38513 The fastslam Algorithm437IV Planning and Control 48514 Markov Decision Processes48715 Partially Observable Markov Decision Processes513viBrief Contents16 Approximate POMDP Techniques54717 Exploration569 ContentsPrefacexviiAcknowledgmentsxixI Basics UncertaintyinRobotics ProbabilisticRobotics Implications RoadMa

13 The FastSLAM Algorithm 437 IV Planning and Control 485 14 Markov Decision Processes 487 15 Partially Observable Markov Decision Processes 513. vi Brief Contents 16 Approximate POMDP Techniques 547 17 Exploration 569. Contents Preface xvii Acknowledgments xix I Basics 1 1 Introduction 3

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