Autonomous Systems resources

Bibliography for projects

on Kalman Filter

• Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)

on particle filters

• A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)

on mapping

• Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)
• Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)
• Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)

on Monte Carlo localization (MCL)

• Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)
• Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)

on robust Monte Carlo localization

• A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)

on simultaneous localization and mapping (SLAM)

• Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)
• Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)
• FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)
• Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)

on cooperative teammate localization

• Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]
• Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)
• A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)

on cooperative perception and localization using shared objects

• Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)

on multiagent pollutant monitoring

• A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)
• Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)

Software

for Pioneer P3-DX robots

• Operations manual: P3OpMan3.pdf
• MATLAB interface code: matlab_pioneer.zip (check Robotics lab resources for further details)
• Python interface code: Pioneer.rar
• Hokuyo Laser URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): Hokuyo_Laser_InterfacePioneer_Matlab.zip

maps

• Scanned copy of a map of the 5th floor at the North Tower: piso5.pdf (revised: better resolution)

demo software

• Bayes filtering demo in 1D -- demo_bayes-1.3.py -- UPDATE: now includes Particle filtering!

general purpose software

• Mobile Robot Programming Toolkit http://www.mrpt.org/