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Introduction to Mobile Robot Control by Spyros G Tzafestas

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12

Mobile Robot Localization and Mapping

Localization and mapping are two of the basic operations needed for the navigation of a robot, the other operations being path planning and motion planning studied in Chapter 11. Other fundamental capabilities and functions of an integrated mobile robotic system, from the task/mission specification to the motion/task execution, are cognition of the task specification, perception of the environment, and control of the robot motion. This chapter is devoted to the localization and map building operations.

Specifically, the objectives of the chapter are (i) to provide the background concepts on stochastic processes, Kalman estimation, and Bayesian estimation employed in WMR localization, (ii) to discuss the ...

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