Readings on Robotics
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 Control | Estimation Theory | General | Kinematics | Learning | Localization | Mapping | Manipulation | Mobile Robots | Navigation | Perception | Planning | Uncertainty | Vision
 
Control
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[Franklin et al., 2002] Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, Feedback Control of Dynamic Systems, Prentice Hall, 2002.
[Mutambara, 1999] Mutambara, Arthur, G.O., Design and Analysis of Control Systems, CRC Press, 1999.
 
 
Estimation Theory
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[Arulampalam et al., 2001] Sanjeev Arulampalam, Simon Maskell, Neil Gordon, and Tim Clapp, A tutorial on particle filters for on-line non-linear/non-gaussian Bayesian tracking, IEEE Transactions on Signal Processing, 50(2): 174-188, 2001.
[Bar-Shalom et al., 2001] Yaakov Bar-Shalom, X. Rong Li, and Thiagalingam Kirubarajan, Estimation with Applications to Tracking and Navigation, Wiley-Interscience, 2001.
[Gelb, 1974] Arthur Gelb, Applied Optimal Estimation, MIT Press, 1974.
[Grisetti et al., 2007] Giorgio Grisetti et al., Fast and accurate SLAM with Rao-Blackwellized particle filters, Robotics and Autonomous Systems, 55(1): 30-38, 2007.
[Welch and Bishop, 2006] Greg Welch and Gary Bishop, An introduction to the Kalman filter, TR 95-041, Dept of Computer Science, UNC, 2006.
 
 
General
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[Goldberg et al., 1995] K. Goldberg, D. Halperin, J.-C. Latombe, and R.Wilson, (editors), Algorithmic Foundations of Robotics, A.K.Peters, Wellesley, 1995
[Laumond and Overmars, 1996] J.-P. Laumond and M.H. Overmars, (editors), Algorithms for Robotic Motion and Manipulation, A.K.Peters, Wellesley, 1996.
[Low, 2004] K.H. Low, Robotics: Principles and Systems Modeling, Prentice Hall, 2004.
[Lumelsky, 2006] Vladimir J. Lumelsky, Sensing, Intelligence, Motion, Wiley, 2006.
[McKerrow, 1991] McKerrow, P.J., Introduction to Robotics, Addison-Wesley, 1991.
[Schilling, 1990] Robert J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall, 1990.
[Spong and Vidyasagar, 1989] Mark W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, Inc., 1989.
[Spong et al., 2006] Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley, 2006.
[Thrun et al., 2005] Sebastian Thrun, Wolfram Burgard, and Dieter Fox, Probabilistic Robotics, MIT Press, 2005.
 
 
Kinematics
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Learning
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[Aycard et al., 1997] Aycard, O., Charpillet, F., Fohr, D., and Mari, J.-F., Place learning and recognition using hidden Markov models, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-97), pp. 1741-1747, 1997.
[Bernardin et al., 2005] Bernardin, K., Ogawara, K., Ikeuchi, K., and Dillmann, R., Sensor fusion approach for recognizing continuous human grasping sequences using hidden Markov models, IEEE Transactions on Robotics, 21(1):47-57, 2005.
[Diebel and Thrun, 2005] James Diebel and Sebastian Thrun, An application of Markov Random Fields to range sensing, In Proceedings of Advances in Neural Information Processing Systems (NIPS-05), pp. 291-298, 2005.
[Lieb et al., 2005] David Lieb, Andrew Lookingbill, and Sebastian Thrun, Adaptive road following using self-supervised learning and reverse optical flow, In Proceedings of Robotics: Science and Systems, 2005.
[Michels et al., 2005] Jeff Michels, Ashutosh Saxena, and Andrew Y. Ng, High speed obstacle avoidance using monocular vision and reinforcement learning, In Proceedings of International Conference on Machine Learning (ICML-05), pp. 593-600, 2005.
[Rosencrantz et al., 2003] Rosencrantz, M., Gordon, G., and Thrun, S., Decentralized sensor fusion with distributed particle filters, In Proceedings of Uncertainty in Artificial Intelligence (UAI-03), pp. 493-500, 2003.
[Thrun, 2000] Thrun, S., Probabilistic algorithms in robotics, Tech. Report CMU-CS-00-126, Carnegie Mellon Univ., 2000.
[Thrun et al., 2001] Sebastian Thrun, John Langford, and Vandi Verma, Risk sensitive particle filters, In NIPS-2001, pp. 961-968, 2001.
[Wellington et al., 2005] Wellington, C., Courville, C., and Stentz, A., Interacting Markov random fields for simultaneous terrain modeling and obstacle detection, In Proceedings of the Conference on Robotics: Science and Systems, pp. 1-8, 2005.
 
Localization
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[Borenstein et al., 1996] J. Borenstein, H.R. Everett, and L. Feng, Systems and methods for mobile robot positioning, 1996. (web)
 
 
Manipulation
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[Murray et al., 1994] Richard M. Murray, Zexiang Li, and S. Shanker Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.
[Sciavicco and Siciliano, 2000] L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators, Springer, 2000.
 
 
Mapping
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[Limketkai et al., 2005] Benson Limketkai, Lin Liao, and Dieter Fox, Relational object maps for mobile robots, In Proceedings of IJCAI-05, pp. 1471-1476, 2005.
[Thrun, 2002] Sebastian Thrun, Robotic mapping: A survey, Tech Report CMU-CS-02-111, School of Computer Science, Carnegie Mellon University, 2002.
 
 
Mobile Robots
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[Campion et al., 1996] Guy Campion, Georges Bastin, and Brigitte D' Andrea-Novel, Structural properties and classification of kinematic and dynamic models of wheeled mobile robots, IEEE Transactions on Robotics and Automation, 12(1): 47-62, 1996.
[Cox and Wilfong, 1990] Ingemar J. Cox and Gordon T. Wilfong (eds), Autonomous Robot Vehicles, Springer-Verlag, 1990.
[Crowley, 1995] James L. Crowley, Mathematical foundations of navigation and perception for an autonomous mobile robot, 1995.
[Dixon et al., 2001] Warren E. Dixon et al., Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system, IEEE Transactions on Systems, Man, and Cybernetics, 31(3): 341-352, 2001.
[Dudek and Jenkin, 2000] Gregory Dudek and Michael Jenkin, Computational Principles of Mobile Robots, Cambridge Univ Press, 2000.
[Iyengar and Elfes, 1991] Iyengar, S.S. and Elfes, A., Autonomous Mobile Robots: Vol 1., Perception, Mapping, and Navigation, Vol 2., Control, Planning, and Architecture, IEEE Computer Society Press, 1991.
[Everett, 1995] H.R. Everett, Sensors for Mobile Robots: Theory and Application, Wellesley, 1995.
[Iagnemma et al., 2002] Iagnemma, K., Shibly, H., and Dubowsky, S., On-line terrain parameter estimation for planetary rovers, In IEEE Int. Conf. on Robotics and Automation (ICRA 02), 2002.
[Kelly, 1994] Alonzo Kelly, Essential kinematics for autonomous vehicles, CMU-RI-TR-94-14, 1994.
[Kelly and Stentz, 1998a] Alonzo Kelly and Anthony Stentz, Rough terrain autonomous mobility - Part 1: A theoretical analysis of requirements, Autonomous Robots, No 5, pp. 129-161, 1998,
[Kelly and Stentz, 1998b] Alonzo Kelly and Anthony Stentz, Rough terrain autonomous mobility - Part 2: An active vision, predictive control, Autonomous Robots, No. 5, pp. 163-198, 1998.
[Siegwart and Nourbakhsh, 2004] Siegwart, R. and Nourbakhsh, I.R., Introduction to Autonomous Mobile Robots, MIT Press, 2004. (web)
 
 
Navigation
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[Borenstein and Koren, 1991] J. Borenstein and D. Koren, The vector field histogram-fast obstacle avoidance for mobile robots, IEEE Transactions on Robotics and Automation, 7(3): 278-288, 1991.
[Choset and Burdick, 1995] H. Choset and J. Burdick, Sensor based planning, part I: The generalized Voronoi graph, In Proceedings of IEEE Int'l Conf. on Robot and Automations, pp. 1649-1655, 1995.
 
 
 
Perception / Sensing
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[Nabbe and Hebert, 2003] Bart Nabbe and Martial Hebert, Where and when to look, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-03), pp. 920-927, 2003.
[Dunn, 2005] Patrick F. Dunn, Measurement and Data Analysis, McGraw Hill, 2005.
[Fraden, 2004] Jacob Fraden, Handbook of Modern Sensors: Physics, Designs, and Applications, (3rd Edition), AIP Press, 2004.
[Robles-De-La-Torre and Hayward, 2001] Gabriel Robles-De-La-Torre and Vincent Hayward, Force can overcome object geometry in the perception of shape through touch, Nature, 412(26): 445-448, 2001.
 
 
Planning
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[Nabbe et al., 2006] Bart Nabbe, Derek Hoiem, Alexi Efros, and Martial Hebert, Opportunitic use of vision to push back the path-planning horizon, In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-06), pp. 2388-2393, 2006.
[Choset et al., 2005] Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki and Sebastian Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, 2005.
[Latombe, 1991] J.-C. Latombe, Robot Motion Planning, Kluwer Academic Pub., 1991.
[Latombe, 1999] Latombe, J.-C., Motion planning: A journey of robots, molecules, digital actor, and other artifacts, The International Journal of Robotics Research, 18(11), pp. 1119-1128, 1999.
[Lavalle, 2006] Steven M. Lavalle, Planning Algorithms, Cambridge University Press, 2006. (web)
 
 
Uncertainty
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[Smith et al., 1990] Smith, R.C., Self, M., and Cheeseman, P., Estimating uncertain spatial relationships in robotics, International Journal of Autonomous Robot Vehicles, pp. 167-193, 1990.
IJCAI-03 Workshop on Reasoning with Uncertainty in Robotics
 
 
Vision
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[Belhumeur et al., 1996] P.N. Belhumeur, J.P. Hespanha, and D.J. Kriegman, Eigenfaces vs. fisherfaces: Recognition using class specific linear projection, IEEE Transactions on Pattern Analsys and Machine Intelligence, Vol 19, Issue 7, pp. 710-720, 1997.
[Davies, 1990] E. R. Davies, Machine Vision: Theory, Algorithms, and Practicalities, Academic Press, 1990
[Faugeras, 1993] Olivier Faugeras, Three-Dimensional Computer Vision, MIT Press, 1993.
[Forsyth and Ponce, 2003] David A. Forsyth and Jean Ponce, Computer Vision: A Modern Approach, Prentice Hall, 2003 (web).
[Greig et al., 1989] D.M. Greig, B.T.Porteous, and A.H.Seheult, Exact maximum a posteriori estimation for binary images, Journal of the Royal Statistical Society, Vol. 51, No. 2, pp. 271-279, 1989.
[Gonzalez et al., 2004] Rafael C. Gonzalez, Richard E. Woods, and Steven L. Eddins, Digital Image Processing Using Matlab, Prentice Hall, 2004.
[Hartley and Zisserman, 2004] Richard Hartley and Andrew Zisserman, Multiple View Geometry in Computer Vision, Cambridge Univ. Press, 2004. (web)
[Jahne, 2004] Bernd Jahne, Practical Handbook on Image Processing for Scientific and Technical Applications, CRC Press, 2004.
[Kanatani, 1993] Kenichi Kanatani, Geometric Computation for Machine Vision, Oxford University Press, 1993.
[Li, 2000] Stan Z. Li, Markov Random Fields Modeling in Computer Vision, Springer-Verlag, 2000. (web)
[Moghaddam et al., 1998] Moghaddam, B., Wahid, W., and Pentland, A., Beyond Eigenfaces: Probabilistic matching for face recognition, In Proceedings of the Third IEEE International Conference on Automatic Face and Gesture Recognition, pp. 30-37, 1998.
[Mundy and Zisserman, 1992] Joseph L. Mundy and Andrew Zisserman, Geometric Invariance in Computer Vision, MIT Press, 1992. (Chapter 23. Appendix - Projective Geometry for Machine Vision, pp. 463-520.)
[Parker, 1997] J. R. Parker, Algorithms for Image Processing and Computer Vision, John Wiley & Sons, 1997.
[Turk and Pentland, 1991] Turk, M. and Pentland, A., Eigen faces for recognition, Journal of Cognitive Neuroscience, 3(1), pp. 71-86, 1991.
[Winkler, 2003] Gerhard Winkler, Image Analysis, Random Fields and Markov Chain Monte Carlo Methods: A Mathematical Introduction, Springer-Verlag, 2003.
[Zhao et al., 1998] Zhao, W., Krishnaswamy, A., Chellappa, R., Swets, D.L., and Weng, J., Discriminant analysis of principal components for face recognition, In Proceedings of International Conference on Automatic Face and Gesture Recognition, pp. 336-341, 1998.
 
 

Last modified: Feb 2, 2007