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
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
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 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 IdMind modified Nomadic Scout robots
- ROS drivers: ros_scout-1.0.tgz
for Pioneer P3-DX robots
- Operations manual: P3OpMan3.pdf
- MATLAB interface code: check Robotics lab resources#Interface with MATLAB 2
- 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
- ROS: Robot Operating System http://www.willowgarage.com/pages/software/ros-platform
- Player/Stage/Gazebo http://playerstage.sourceforge.net
- Mobile Robot Programming Toolkit http://www.mrpt.org/