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AAAI Press
Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems

Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems


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The mobile robot systems described in this book were selected from among the best available implementations by leading universities and research laboratories. These are robots that have left the lab and been tested in natural and unknown environments. They perform many different tasks, from giving tours to collecting trash. Many have distinguished themselves (usually with first- or second-place finishes) at various indoor and outdoor mobile robot competitions. Each case study is self-contained and includes detailed descriptions of important algorithms, including pseudo-code. Thus this volume serves as a recipe book for the design of successful mobile robot applications. Common themes include navigation and mapping, computer vision, and architecture.

Ronald Arkin, Tucker Balch, Michael Brady, Don Brutzman, Arno Bucken, R. James Firby, Erann Gat, Tony Healy, Ian Horswill, Housheng Hu, Sven Koenig, Kurt Konolige David Kortenkamp, Dave Marco, Bob McGhee, Robin Murphy, Karen Myers, Illah Nourbakhsh, Peter Prokopowicz, Bill Schiller, Reid Simmons, Michael Swain, Sebastian Thrun

Product Details

ISBN-13: 9780262611374
Publisher: AAAI Press
Publication date: 03/24/1998
Series: American Association for Artificial Intelligence
Pages: 400
Product dimensions: 6.00(w) x 8.90(h) x 1.00(d)
Age Range: 18 Years

About the Author

David Kortenkamp is Co-Founder and Senior Scientist at Texas Robotics and Automation Center, NASA Johnson Space Center.

Robin R. Murphy is Raytheon Professor of Computer Science and Engineering at Texas A&M University, where she is also Director of the Center for Robot-Assisted Search and Rescue. She is the author of Introduction to AI Robotics and Disaster Robotics and the editor of Robotics Through Science Fiction (all published by the MIT Press).

Table of Contents

Case Studies
Part One: Mapping and Navigation
Map Learning and Highspeed Navigation in RHINO
Sebastian Thrun, Arno Bucken, Wolfram Burgard, Dieter FoX, Thorstn Frohlinghaus,
Daniel Hennig, Thomas Hofmann, Michael Krell, and Timo Schmidt
Integrating High Speed Obstacle Avoidance, Global Path Planning
and Vision Sensing on a Mobile Robot
David Kortenkamp, Marcus Huber, Charles Cohen, Ulrich Raschke, Frank Koss, and Clare Congdon
Dervish: An OfficeNavigating Robot
Illah Nourbakhsh
Xavier: A Robot Navigation Architecture Based On Partially
Observable Markov Decision Process Models
Reid Simmons and Sven Koenig
Part Two: Vision for Mobile Robots
The Design of the Polly System
Ian Horswill
Coordination and Control of Sensing for Mobility Using ActionOriented Perception
Robin Murphy
Vehicle Guidance Architecture for Combined Lane Tracking and Obstacle Avoidance
Bill Schiller, Yufeng Du, Don Krantz, Craig Shankwitz, and MaX Donath
Part Three: Mobile Robot Architectures
On ThreeLayer Architectures
Erann Gat
The Saphira Architecture for Autonomous Mobile Robots
Kurt Konolige and Karen Myers
The Animate Agent Architecture
R. James Firby,Peter N. Prokopowicz, and Michael J. Swain
Cooperative Multiagent Robotic Systems
Ron Arkin and Tucker Balch
Towards Advanced Mobile Robots for Manufacturing
Housheng Hu and Michael Brady
The PhoeniX Autonomous Underwater Vehicle
Don Brutzman

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