Planning and navigation algorithms exploit statistics gleaned from uncertain, imperfect real-world environments to guide robots toward their goals and around obstacles.

We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10–100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation system. The scenarios are diverse, capturing real-world traffi…

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the prod…

A new architecture for controlling mobile robots is described. Layers of control system are built to let the robot operate at increasing levels of competence. Layers are made up of asynchronous modules that communicate over low-bandwidth channels. Each module is an instance of a fairly simple computational machine. Higher-level layers can subsume the roles of lower levels by suppressing their outputs. However, lower…

This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a…

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Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics.

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From the Publisher: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is sup…

From the Publisher: This book presents a coherent approach to the fast-moving field of computer vision, using a consistent notation based on a detailed understanding of the image formation process. It covers even the most recent research and will provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition. An outgrowth of the author's…