Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent BehaviourSpringer Science & Business Media, 10 abr 2006 - 207 páginas Mobile robotics is a cutting-edge research topic, which until recently has primarily focused on issues such as the design of controllers and robot hardware. The field is now ready to embrace theoretical methods from dynamical systems theory, statistics and system identification to produce quantitative analyses and computer models of robot-environment interaction. Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour is a decisive step towards a theoretical understanding of the operation of autonomous mobile robotics. This book presents cutting-edge research results on the application of chaos theory, parametric and non-parametric statistics and dynamical systems theory in mobile robotics. It presents foundations of a theory of mobile robotics by providing a quantitative analysis of the interaction between robot, task and environment. Practical examples and case studies show how robot behaviour can be logged, modelled, analysed and interpreted. This new approach will aid the design of controllers, analysis of agent behaviour and the verification of experimental results. As the first book to apply advanced scientific methods to the growing field of mobile robots, Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour will interest researchers, lecturers and post-graduate students in robotics, artificial intelligence and cognitive science.
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Índice
A Brief Introduction to Mobile Robotics | 1 |
13 The Emergence of Behaviour | 5 |
14 Examples of Research Issues in Autonomous Mobile Robotics | 7 |
15 Summary | 9 |
Introduction to Scientific Methods in Mobile Robotics | 11 |
Analytical Robotics | 13 |
23 RobotEnvironment Interaction as Computation | 15 |
24 A Theory of RobotEnvironment Interaction 241 Definition | 16 |
The Lyapunov Exponent | 100 |
The Dimension of Attractors | 116 |
46 Summary | 119 |
Analysis of Agent Behaviour Case Studies | 121 |
52 Chaos Walker | 126 |
53 Analysing the Flight Paths of Carrier Pigeons | 133 |
Computer Modelling of RobotEnvironment Interaction | 139 |
62 Some Practical Considerations Regarding Robot Modelling | 141 |
25 Robot Engineering vs Robot Science | 18 |
26 Scientific Method and Autonomous Mobile Robotics 261 Introduction | 19 |
27 Tools Used in this Book | 27 |
The Contrast Between Experimental Mobile Robotics and Scientific Mobile Robotics | 28 |
Statistical Tools for Describing Experimental Data | 29 |
32 The Normal Distribution | 30 |
33 Parametric Methods to Compare Samples 331 General Considerations Significance Levels | 33 |
34 NonParametric Methods to Compare Samples | 43 |
35 Testing for Randomness in a Sequence | 55 |
36 Parametric Tests for a Trend Correlation Analysis | 57 |
37 NonParametric Tests for a Trend 371 Spearman Rank Correlation | 65 |
38 Analysing Categorical Data | 69 |
39 Principal Component Analysis | 80 |
Dynamical Systems Theory and Agent Behaviour | 85 |
43 Describing Robot Behaviour Quantitatively Through Phase Space Analysis | 95 |
Model Acquisition Using Artificial Neural Networks | 143 |
64 Linear Polynomial Models and Linear Recurrence Relations | 150 |
65 NARMAX Modelling | 155 |
Environment Identification | 156 |
67 Task Identification | 173 |
68 Sensor Identification | 184 |
69 When Are Two Behaviours the Same? | 185 |
610 Conclusion | 193 |
Conclusion | 195 |
72 Quantitative Descriptions of RobotEnvironment Interaction | 196 |
73 A Theory of RobotEnvironment Interaction | 197 |
Towards Analytical Robotics | 199 |
References | 201 |
205 | |
Otras ediciones - Ver todo
Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour Ulrich Nehmzow Vista previa restringida - 2006 |
Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour Ulrich Nehmzow No hay ninguna vista previa disponible - 2005 |
Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behaviour Ulrich Nehmzow No hay ninguna vista previa disponible - 2010 |