Probabilistic Robotics

by Thrun, Burgard, Fox

ISBN: 9780262363808 | Copyright 2005

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Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site,, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Probabilistic Robotics is a tour de force, replete with material for students and practitioners alike.

Gaurav S. Sukhatme Associate Professor of Computer Science and Electrical Engineering, University of Southern California
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Contents (pg. vii)
Preface (pg. xvii)
Acknowledgments (pg. xix)
I Basics (pg. 1)
1 Introduction (pg. 3)
2 Recursive State Estimation (pg. 13)
3 Gaussian Filters (pg. 39)
4 Nonparametric Filters (pg. 85)
5 Robot Motion (pg. 117)
6 Robot Perception (pg. 149)
II Localization (pg. 189)
7 Mobile Robot Localization: Markov and Gaussian (pg. 191)
8 Mobile Robot Localization: Grid And Monte Carlo (pg. 237)
III Mapping (pg. 279)
9 Occupancy Grid Mapping (pg. 281)
10 Simultaneous Localization and Mapping (pg. 309)
11 The GraphSLAM Algorithm (pg. 337)
12 The Sparse Extended Information Filter (pg. 385)
13 The FastSLAM Algorithm (pg. 437)
IV Planning and Control (pg. 485)
14 Markov Decision Processes (pg. 487)
15 Partially Observable Markov Decision Processes (pg. 513)
16 Approximate POMDP Techniques (pg. 547)
17 Exploration (pg. 569)
Bibliography (pg. 607)
Index (pg. 639)

Sebastian Thrun

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

Wolfram Burgard

Wolfram Burgard is Professor of Computer Science and Head of the research lab for Autonomous Intelligent Systems at the University of Freiburg.

Dieter Fox

Dieter Fox is Associate Professor of Computer Science at the University of Washington.

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