January 2020
Intermediate to advanced
284 pages
6h 9m
English
book
Reliable Robot Localization
by Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor M. Veres
Content preview from Reliable Robot Localization
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Notations
To facilitate the reader’s understanding of this book, the mathematical notations that will be used are listed here in Notations. All of these will be introduced within the chapters. Vectors, matrices and vectorial functions will be represented in bold while intervals will be indicated by brackets [ ]. The blackboard bold convention is used to represent other classical sets, for example 𝕏, 𝕐.
Modelization
| x | : state vector, x ∈ ℝn |
| : (or an arbitrary variable) | |
| p | : 2D position vector, p = (x1, x2)┬ |
| u | : input vector, u ∈ ℝm |
| f | : evolution function, f : ℝn × ℝm → ℝn |
| : (or an arbitrary function) | |
| z | : vector of observations, z ∈ ℝp |
| g | : observation function, g : ℝn → ℝp |
| h | : drifting function (clock problem, Chapter 4) |
| : configuration function (SLAM method, Chapter 6) | |
| τ | : drifting time reference |
| φ, θ, ψ | : roll, pitch, yaw (heading) |
Intervals and sets
| Ø | : empty set |
| 𝕀ℝ | : set of all intervals of ℝ |
| 𝕀ℝn | : set of all boxes of ℝn |
| [x] | : interval [x−, x+], [x] ∈ 𝕀ℝ |
| x− | : lower bound of the interval [x] |
| x+ | : upper bound of the interval [x] |
| x* | : actual (unknown) value enclosed by [x] |
| [x] | : box or interval vector, [x] ∈ 𝕀ℝn |
| [f] | : inclusion function of f |
| [f]* | : minimal inclusion function of f |
| ⨆ | : squared union, envelope of the following terms |
 f |
: constraint related to a function f |
| 𝒞f | : contractor related to f |
| [𝕏] | : box enclosing the ... |
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.