دانلود کتاب Environment Learning for Indoor Mobile Robots: A Stochastic State Estimation Approach to Simultaneous Localization and Map Building

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front-matter.pdf......Page 1
001-047.pdf......Page 13
1.1 Extended Kalman Filter Approach to SLAM......Page 16
1.2 Mobile Robot Platforms......Page 29
1.3 Temporal Landmark Validation......Page 32
1.4 Performance of EKF SLAM with Landmark Validation......Page 39
1.6 Bibliographical Notes......Page 55
1.7 Concluding Remarks......Page 59
049-084.pdf......Page 60
2.1 Steady State Behavior of EKF-SLAM......Page 61
2.2 Total Fisher Information......Page 63
2.3 Convergence......Page 66
2.4 Observable and Controllable Subspace......Page 67
2.5 The Monobot......Page 68
2.6 The Planar Robot......Page 76
2.7 Observability......Page 80
2.8 Controllabilit......Page 91
2.10 Conclusions......Page 95
085-096.pdf......Page 96
3.2 O ( n ) and Stable Partially Observable SLAM......Page 98
3.3 O ( n ) and Stable Fully Observable SLAM......Page 99
3.4 Experimental Results......Page 103
097-106.pdf......Page 108
4.1 Nonlinear Propagation of State Estimates......Page 109
4.2 UT of Vehicle States......Page 110
4.3 Experimental Results. EKF, UKF, and Vehicle-Only UT......Page 112
4.4 Conclusion......Page 113
107-118.pdf......Page 118
5.1 Linear Quadratic Gaussian Regulation......Page 119
5.2 The EKF for Multirobot SLAM......Page 123
5.3 Feedback Linearization......Page 124
5.4 Conclusions......Page 127
Recursive State Estimation......Page 130
Linear Kalman Filter......Page 131
Extended Kalman Filter......Page 133
Conditioning......Page 134
Sequential Innovation......Page 135
Bibliographical Notes......Page 136
127-128.pdf......Page 137
129-130.pdf......Page 139
back-matter.pdf......Page 141