Anglický jazyk

Sensing and Filtering

Vydavateľstvo: Now Publishers Inc
Rok vydania: 2012
Formát: Paperback
Rozmer: 234 x 156 mm
Jazyk: Anglický jazyk
ISBN: 9781601985248

Na objednávku

100.53 €

bežná cena: 111.70 €

O knihe

Where do robots get their information? For a given task, what information is actually
necessary? What is even meant by "information"? These questions lie at the heart of robotics
and fall under the realm of sensing and filtering.

In Sensing and Filtering, the author presents an unusual view of these subjects by
characterizing the uncertainty due to the many-to-one mappings between the world and
sensor readings. This is independent of noise-based uncertainty and reveals critical structure
about the possible problems that can be solved using specific sensors. The set of all sensor
models is arranged into a lattice that enables them to be compared for purposes of
interchangeability. Filters, which combine sensor observations, are expressed in terms of
information states (not information theory), a concept that was introduced in decision and
control theory.

Sensing and Filtering provides the reader with modeling tools and concepts for developing
robotic systems that accomplish their tasks while carefully avoiding the reconstruction of
unnecessary state information. This is in contrast to the approach usually taken in planning
and control, which is to fully reconstruct and maintain the state at all times. The new approach
may enable simple, robust, and inexpensive solutions to tasks such as navigation, topological
mapping, coverage, patrolling, tracking, and pursuit-evasion.