Mathematical foundations of navigation and perception for an autonomous mobile robot

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 1093, Issue , 1996, Pages 9-51

  Crowley, James L ^a  

^a GRENOBLE INSTITUTE OF TECHNOLOGY   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; CONTROLLERS; ESTIMATION; KALMAN FILTERS; MACHINE DESIGN; MOBILE ROBOTS; NAVIGATION SYSTEMS; ROBOTICS; UNCERTAINTY ANALYSIS; VEHICLES;

AUTONOMOUS MOBILE ROBOT; GENERAL PURPOSE VEHICLES; HIERARCHICAL ARCHITECTURES; IMMEDIATE ENVIRONMENT; MATHEMATICAL FOUNDATIONS; MOBILE ROBOT NAVIGATION SYSTEM; POSITION AND ORIENTATIONS; THREE-LAYER STRUCTURES;

ROBOTS;

EID: 84958741835     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/BFb0013953     Document Type: Conference Paper

References (48)

1. N. Ayache, O. Faugeras, "Maintaining Representation of the Environment of a Mobile Robot". Proceedings of the International Symposium on Robotics Research, Santa Cruz, California, USA, August 1987.
2. A. Blake, A. Zisserman, Visual Reconstruction, Cambridge MA, MIT Press, 1987.
3. K. Brammer, G. Siffling, Kalman Bucy Filters, Artech House Inc., Norwood MA, USA, 1989.
4. R. Brooks, "Visual Map Making for a Mobile Robot", Proc. 1985 IEEE International Conference on Robotics and Automation, 1985.
5. C. Brown, and H. Durrant Whyte, J. Leonard and B. Y. S. Rao, "Centralized and Decentralized Kalman Filter Techniques for Tracking, Navigation and Control", DARPA Image Understanding Workshop, May 1989.
6. L. Brownston, R. Farrell, E. Kant, N. Martin, Programming Exoert Svstems in OPS-5, Addison Wesley, Reading Mass, 1985.
7. B. Buchanan, E. Shortliffe, Rule Based Exoert Systems. Addison Wesley, Reading Mass, 1984.
8. R. Bucy, "Optimum finite filters for a special non-stationary class of inputs", Internal Rep. BBD-600, Applied Physics Laboratory, Johns Hopkins University, 1959.
9. R. Bucy, P. Joseph, Filtering for Stochastic Processes, with aoolications to Guidance, Interscience New York, 1968.
10. R. Chatila, J. P. Laumond, "Position Referencing and Consistent World Modeling for Mobile Robots", Proc 2rid IEEE International Conf. on Robotics and Automation, St. Louis, March 1985.
11. F. Chenavier and J. L. Crowley, "Position Estimation for a Mobile Robot Using Vision and Odometry", 1992 IEEE Conference on Robotics and Automation, Nice, May, 1992.
12. J. L. Crowley, "Navigation for an Intelligent Mobile Robot", IEEE Journal on Robotics and Automation, Vol 1 (1), March 1985.
13. J. L. Crowley, "Coordination of Action and Perception in a Surveillance Robot", IEEE Expert, Novembre 1987 (also appeared in the 1987 International Joint Conference on Artificial Intelligence, Milan, Italy, August, 1987).
14. J. L. Crowley, "World Modeling and Position Estimation for a Mobile Robot Using Ultrasonic Ranging", 1989 IEEE Conference on Robotics and Automation, Scottsdale, Az, 1989.
15. Crowley, J. L., "Asynchronous Control of Orientation and Displacement in a Robot Vehicle", 1989 IEEE Conference on Robotics and Automation, Scottsdale AZ, May 1989.
16. Crowley, J. L.,. P. Bobet et K. Sarachik, "Dynamic World Modeling Using Vertical Line Stereo", Journal of Robotics and Autonomous Systems, Elsevier Press, Juin, 1991
17. J. L. Crowley, P. Stelmaszyk, T. Skordas et P. Puget, "Measurement and Integration of 3-D Structures By Tracking Edge Lines", International Journal of Computer Vision, July 1992.
18. E. D. Dickmanns, "An Integrated Approach to Feature Based Dynamic Vision", CVPR 88, Ann Arbor Michigan, June 1988.
19. Dolyle, J. "A Truth Maintenance System", Artificial Intelligence, VO1 12(3), 1979.
20. R. Duda, R. Hart, N. Nilsson, "Subjective Bayesian Methods for Rule Based Inference Systems", Proc. 1976 Nat. Computer Conference, AFIPS, Vol 45, 1976.
21. H. Durrant-Whyte, "Consistent Integration and Propagation of Disparate Sensor Observations", Int. Journal of Robotics Research, Spring, 1987.
22. O. Faugeras, N. Ayache, B. Faverjon, "Building Visual Maps by Combining Noisey Stereo Measurements", IEEE International Conference on Robotics and Automation, San Francisco, Cal., April, 1986.
23. Hayes-Roth, B., "A Blackboard Architecture for Control", Artificial Intelligence, Vol 26, 1985.
24. M. Herman, T. Kanade, "Incremental reconstruction of 3D scenes from multiple complex images", Artificial Intelligence vol-30, 1986, pp.289
25. J. Hopfield, "Neural Networks and physical systems with emergent collective computational abilities", Proc. Natl. Acad. Sci., vol-79, USA, 1982, pp 2554-2558.
26. J. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970.
27. R. Kalman, "A new approach to Linear Filtering and Prediction Problems", Transactions of the ASME, Series D. J. Basic Eng., Vol 82, 1960.
28. R. Kalman, R. Bucy, "New Results in Linear Filtering and Prediction Theory", Transaction of the ASME, Series D. J. Basic Eng., Vol 83, 1961.
29. Y. Kanayama, "Trajectory Generation for Mobile Robots.", Third Int. Symp. on Robotics Research, ISRR-3, Paris, Oct. 1985.
30. Y. Kanayama and S. Yuta, "Vehicle Path Specification by a Sequence of Straight Lines", IEEE Journal of Robotics and Automation, Vol. 4 (3) June 1988.
31. C. Koch, J. Marroquin, A. Yuille, "Analog neural networks in early vision", AI Lab. Memo, No 751, MIT Cambridge, Mass, 1985.
32. T. Poggio, C. Koch, "Ill-posed problems in early vision: from computational theory to analog networks", Proc. R. Soc. London, B-226, 1985, pp.303-323.
33. A. Kolmogorov, "Interpolation and Extrapolation of Stationary Random Sequences", Bulletin of the Academy of Sciences of the USSR Math. Series, VO1 5., 1941.
34. S. Li, "Invariant surface segmentation through energy minimization with discontinuities", submitted to Intl. J. of Computer Vision, 1989.
35. S. Li, "A curve analysis approach to surface feature extraction from range image", Proc. International Workshop on Machine Intelligence and Vision, Tokyo, 1989.
36. J. L. Crowley and J. Martin, "Experimental Comparison of Correlation Techniques", IAS-4, International Conference on Intelligent Autonomous Systems, Karlsruhe, March 1995. (Best Paper Award IAS-4)
37. L. Matthies, R. Szeliski, T. Kanade, "Kalman Filter-based Algorithms for Estimating Depth from Image Sequences", CMU Tech. Report, CMU-CS-87-185, December 1987.
38. A. Melsa, J. Sage, Estimation Theory, with Applications to Communications and Control, McGraw-Hill, New York, 1971.
39. H. P. Moravec, "The Stanford Cart and the CMU Rover", Proc. of the IEEE, Vol 71, July 1983.
40. N. J. Nilsson, "A Mobile Automaton: An Application of Artificial Intelligence Techniques", Proceedings of the First IJCAI, 1969.
41. N. J. Nilsson, Principles of Artificial Intelligence, Tioga Press, 1980.
42. G. A. Shafer, A Mathematical Theory of Evidence, Princeton N. J., Princeton University Press, 84.
43. R. Smith, P. Cheeseman, "On the Estimation and Representation of Spatial Uncertainty", International Journal of Robotics Research 5 (4), Winter, 1987.
44. D. Terzopoulos, "Regularization of inverse problems involving discontinuities", IEEE Trans PAMI, 8, 1986, pp.129-139.
45. C. Thorpe, M. Hebert, T. Kanade and S. Shafer, "Vision and Navigation for the Carnegie-Mellon University Nav Lab", IEEE Journal of Robotics and Automation, Vol 3 (2) March 1987.
46. R. W. Wallace, T. Stentz, C. Thorpe and T. Kanade, "First Results in Road Following", IJCAI 85, Los Angeles, August 1985.
47. N. Weiner, Extrapolation, Interoolation and Smoothing of Stationary Time Series, John Wiley and Sons, New York., 1949.
48. L. Zadeh, "A Theory of Approximate Reasoning", Machine Intelligence, J. E. Haynes, D. Mitchie and L. I. Mikulich, eds, John Wiley and Sons, NY, 1979.