Approaches to Probabilistic Model Learning for Mobile Manipulation Robots PDF Download

Author: Jürgen Sturm
Publisher: Springer
ISBN: 3642371604
Category : Technology & Engineering
Languages : en
Pages : 216

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Book Description
This book presents techniques that enable mobile manipulation robots to autonomously adapt to new situations. Covers kinematic modeling and learning; self-calibration; tactile sensing and object recognition; imitation learning and programming by demonstration.

Author: Sebastian Thrun
Publisher: MIT Press
ISBN: 0262201623
Category : Technology & Engineering
Languages : en
Pages : 668

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Book Description
An introduction to the techniques and algorithms of the newest field in robotics. 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, www.probabilistic-robotics.org, 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.

Author: Aude Billard
Publisher: MIT Press
ISBN: 0262367017
Category : Technology & Engineering
Languages : en
Pages : 425

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Book Description
Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

Author: Rogerio Schmidt Feris
Publisher: Springer
ISBN: 3319500775
Category : Computers
Languages : en
Pages : 362

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Book Description
This unique text/reference provides a detailed overview of the latest advances in machine learning and computer vision related to visual attributes, highlighting how this emerging field intersects with other disciplines, such as computational linguistics and human-machine interaction. Topics and features: presents attribute-based methods for zero-shot classification, learning using privileged information, and methods for multi-task attribute learning; describes the concept of relative attributes, and examines the effectiveness of modeling relative attributes in image search applications; reviews state-of-the-art methods for estimation of human attributes, and describes their use in a range of different applications; discusses attempts to build a vocabulary of visual attributes; explores the connections between visual attributes and natural language; provides contributions from an international selection of world-renowned scientists, covering both theoretical aspects and practical applications.

Author: Erwin Prassler
Publisher: Springer Science & Business Media
ISBN: 3642251153
Category : Technology & Engineering
Languages : en
Pages : 521

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Book Description
People have dreamed of machines, which would free them from unpleasant, dull, dirty and dangerous tasks and work for them as servants, for centuries if not millennia. Service robots seem to finally let these dreams come true. But where are all these robots that eventually serve us all day long, day for day? A few service robots have entered the market: domestic and professional cleaning robots, lawnmowers, milking robots, or entertainment robots. Some of these robots look more like toys or gadgets rather than real robots. But where is the rest? This is a question, which is asked not only by customers, but also by service providers, care organizations, politicians, and funding agencies. The answer is not very satisfying. Today’s service robots have their problems operating in everyday environments. This is by far more challenging than operating an industrial robot behind a fence. There is a comprehensive list of technical and scientific problems, which still need to be solved. To advance the state of the art in service robotics towards robots, which are capable of operating in an everyday environment, was the major objective of the DESIRE project (Deutsche Service Robotik Initiative – Germany Service Robotics Initiative) funded by the German Ministry of Education and Research (BMBF) under grant no. 01IME01A. This book offers a sample of the results achieved in DESIRE.

Author: Zhijun Li
Publisher: CRC Press
ISBN: 1466580429
Category : Technology & Engineering
Languages : en
Pages : 292

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Book Description
Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.

Author: Wolff Heintschel von Heinegg
Publisher: Springer
ISBN: 3319672665
Category : Law
Languages : en
Pages : 234

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Book Description
This book addresses the technological evolution of modern warfare due to unmanned systems and the growing capacity for cyberwarfare. The increasing involvement of unmanned means and methods of warfare can lead to a total removal of humans from the navigation, command and decision-making processes in the control of unmanned systems, and as such away from participation in hostilities – the “dehumanization of warfare.” This raises the question of whether and how today’s law is suitable for governing the dehumanization of warfare effectively. Which rules are relevant? Do interpretations of relevant rules need to be reviewed or is further and adapted regulation necessary? Moreover, ethical reasoning and computer science developments also have to be taken into account in identifying problems. Adopting an interdisciplinary approach the book focuses primarily on international humanitarian law, with related ethics and computer science aspects included in the discussion and the analysis.

Author: Stephen Muggleton
Publisher: World Scientific
ISBN: 1783265108
Category : Computers
Languages : en
Pages : 264

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Book Description
This book represents a selection of papers presented at the Inductive Logic Programming (ILP) workshop held at Cumberland Lodge, Great Windsor Park. The collection marks two decades since the first ILP workshop in 1991. During this period the area has developed into the main forum for work on logic-based machine learning. The chapters cover a wide variety of topics, ranging from theory and ILP implementations to state-of-the-art applications in real-world domains. The international contributors represent leaders in the field from prestigious institutions in Europe, North America and Asia.Graduate students and researchers in this field will find this book highly useful as it provides an up-to-date insight into the key sub-areas of implementation and theory of ILP. For academics and researchers in the field of artificial intelligence and natural sciences, the book demonstrates how ILP is being used in areas as diverse as the learning of game strategies, robotics, natural language understanding, query search, drug design and protein modelling.

Author: Qiang Li
Publisher: Academic Press
ISBN: 0323904173
Category : Computers
Languages : en
Pages : 374

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Book Description
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Author: Daniel Sebastian Leidner
Publisher: Springer
ISBN: 3030048586
Category : Technology & Engineering
Languages : en
Pages : 211

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Book Description
In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment