Handouts
- 2.Set.08 - Course Presentation
- 19.Set.08 - Introduction
- 23.Sep.08 - Sensor Integration
- 26.Sep.08 - Maps (part I)
- 30.Sep.08 - Maps (part II)
- 2.Oct.08 - Kalman filter
- 14.Out.08 - Localization-SLAM (part I)
- 16.Out.08 - Localization-SLAM (part II)
- 21.Out.08 - Localization-SLAM (part III)
- 23.Out.08 - Localization-SLAM (part IV) and Localization-SLAM (part V)
- 28.Out.08 - Localization-SLAM (part VI)
- 30.Out.08 - FastSLAM
- 22.Nov.08 - Task Planning
- 02.Dec.08 - Cooperative Systems
- 09.Dec.08 - Functional Architectures
Bibliography and Reading Assigment
Maps and Multi-Sensor Integration
- Occupancy Grids - A. Elfes, Sonar-Based Real-World Mapping and Navigatio, IEEE Journal of Robotics and Automation, Vol. RA-3, No.3, June 1987 ( pdf)
- Occupancy Grids - A. Elfes, Using Occupancy Grids for Mobile Robot Perception and Navigation, IEEE Computer, 1989 ( pdf1)
- Environment Maps ( see-1 Chap.8 of book by McKerrow) ( see-2 Chap.5 of book by Siegwart)
- Multi-Sensor Integration - High F. Durrant-Whyte, "Sensor Models and Multisensor Integration", International Journal of Robotics Research, Vol.7, No.6, pp.97-113, 1988.
- A Beginner's Guide to Decentralized Data Fusion, Hugh Durrant-Whyte, Technical Report, U. Sidney, Australia, 2000
Kalman Filtering
- See http://www.cs.unc.edu/~welch/kalman/maybeck.html where the pdf version of the Chapter 1 of the book by Peter Maybeck, Stochastic Models, Estimation, and Control, with an Introduction to the concepts of the Kalman Filter is presented.
- See http://www.cs.unc.edu/~welch/kalman/index.html for some tutorials, references, and research related to the Kalman filter.
- Isabel Ribeiro, " Gaussian Probability Density Functions: Properties and Error Characterization", ISR Technical Report, 2004.
- Isabel Ribeiro, " Kalman and Extended Kalman Filters: Concept, Derivation and Properties", ISR Technical Report, February 2004.
Monte-Carlo Localization (MCL)
- Frank Dellaert, Dieter Fox, Wolfram Burgard, Sebastian Thrun, " Monte Carlo Localization for Mobile Robots", Proc. of the IEEE Int. Conf. on Robotics and Automation, ICRA99, May 1999.
- Ioannis M. Rekleitis, " A Particle Filter Tutorial for Mobile Robot Localization," Technical Report TR-CIM-04-02, Centre for Intelligent Machines, McGill University, Canada, 2002.
Simultaneous Localization and Mapping (SLAM)
- Eduardo Nebot, " Simultaneous Localization and Mapping", EURON Summer School, 2002.
- Hugh Durrant-Whyte, Tim Bailey, "Simultaneous Localization and Mapping: Part I", IEEE Robotics & Automation Magazine, June 2006.
- Hugh Durrant-Whyte, Tim Bailey, "Simultaneous Localization and Mapping: Part II", IEEE Robotics & Automation Magazine, June 2006.
Cooperative Systems
- R. Fierro, P. Song, A. Das, V. Kumar, " Cooperative Control of Robot Formations "In R. Murphy and P. Pardalos, editors, Cooperative Control and Optimization, volume 66, pages 73-93, Hingham, MA, 2002, Kluwer Academic Press
- N. E. Leonard, E. Fiorelli, " Virtual Leaders Artificial Potential and Coordinated Control of Groups", Proc. of the 40th IEEE Conference on Decision and Control, Orlando, FL, December 2001, 2968-2973
- R. Alami, S. Fleury, M. Herrb, F. Ingrand and F. Robert. Multi-robot Cooperation in the MARTHA Project. In IEEE Robotics and Automation Magazine, Vol.5, No. 1, March 1998
Further bibliography and software
- Wiki page: Autonomous Systems resources
Attachments
- Cooperative Systems
- Decentralized Data Fusion for Beginners
- FastSLAM
- Functional Architectures
- Introduction
- Kalman filter
- Localization-SLAM (PartIII)
- Localization-SLAM (part I)
- Localization-SLAM (part II)
- Localization-SLAM (part IV)
- Localization-SLAM (part V)
- Localization-SLAM (part VI)
- Maps (part I)
- Maps (part II)
- Presentation
- Sensor Integration
- Task Planning