State Estimation for Robotics [Bookshelf]

Probabilistic Methods for State Estimation in Robotics

The eld of Arti cial Intelligence (AI) is currently undergoing a transition. While in the eighties, rule-based and logical representations were the representation of choice in the majority of AI systems, in recent years various researchers have explored alternative representational frameworks, which emphasis on frameworks that enable systems to represent and handle uncertainty. Out of those, pr...

channel estimation for mimo-ofdm systems

تخمین دقیق مشخصات کانال در سیستم های مخابراتی یک امر مهم محسوب می گردد. این امر به ویژه در کانال های بیسیم با ‏خاصیت فرکانس گزینی و زمان گزینی شدید، چالش بزرگی است. مقالات متعدد پر از روش های مبتکرانه ای برای طراحی و آنالیز ‏الگوریتم های تخمین کانال است که بیشتر آنها از روش های خاصی استفاده می کنند که یا دارای عملکرد خوب با پیچیدگی ‏محاسباتی بالا هستند و یا با عملکرد نه چندان خوب پیچیدگی پایینی...

Kansas State Robotics

The Computing and Information Sciences Department at Kansas State University has developed a software control laboratory for the purpose of exposing undergraduate students to the problems of developing software on real, moving equipment. The equipment in the laboratory consists of two Nomad200 robots and two Scout robots from Nomadic Technology, Inc. The main use of the equipment is in a capsto...

Stochastic State Estimation for Simultaneous Localization and Map Building in Mobile Robotics

1The study of stochastic models for Simultaneous Localization and Map Building (SLAM) in mobile robotics has been an active research topic for over fifteen years. Within the Kalman filter (KF) approach to SLAM, seminal work (Smith and Cheeseman, 1986) suggested that as successive landmark observations take place, the correlation between the estimates of the location of such landmarks in a map g...

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