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MIT Press has always been at the cutting edge of advanced robotics. No
other publisher comes close to the number and quality of robotics titles that roll off of
the presses at MIT every year. We are proud to offer some of the best of the MIT Press
books in this section, plus several titles from other publishers.
It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). |
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Covering topics such as advanced sensor fusion, control systems for a wide array of application sensors and instrumentation, and fuzzy logic applications, this volume is essential reading for engineers undertaking robotics projects as well as undergraduate and graduate students studying robotic engineering, artificial intelligence, and cognitive science. Its state-of-the-art treatment of core concepts in mobile robotics challenges readers to explore new avenues in an exciting field. The accompanying CD-ROM provides software routines for the examples cited as well as an electronic version of the text.
The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotion, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data.
Advances in biologically-inspired technologies, such as artificial intelligence and artificial muscles, are bringing the possibility of engineering robots that look and behave like humans closer to reality.
The first section describes the sensory systems of biorobotic crickets, lobsters, and ants and the visual system of flies. The second section details the construction of a hexapod robot with kinematics borrowed from the common cockroach. It also explores the intriguing question of how the evolution of complex motor abilities could lead to the development of cognitive functions.
It begins by describing "ARNE", the experimental mobile robot. ARNE is a 12 inch diameter disc which supports the control electronics and a rotating Polaroid sonar range-finding sensor. Below the disc is a frame that houses the motors and shaft encoders for the two drive wheels. A bump sensor around the main disc is used to detect collisions. Chapters are devoted to the maps used in the research; Approaches to exploration; The robot itself; Modeling the sonar sensor; Map construction (including a feature based map, and a grid based map); Path planning; Localization; and Map quality metrics.
This book is a comprehensive introduction to the field of soccer robotics. Soccer robotics has become an important research area integrating mechatronics, computer science and artificial intelligence techniques to create real-world autonomous systems. It also serves as a popular test arena in which to compare the different approaches, in diverse types of competition and with varying levels of distributed perception and collaboration. The focus of this monograph is the FIRA framework of Soccer Robotics, in particular the Micro Robot World Cup Soccer Tournament, (MiroSot), which uses a central overhead camera to view the whole soccer field and central control of the robots.
Peter Stone's book is the result of six years of research as a Ph.D.
candidate and Postdoctoral Fellow in the Computer Science Department at Carnegie Mellon
University. It is about building artificially intelligent agents for real-time, noisy,
collaborative, and adversarial multiagent environments. Layered Learning in Multiagent
Systems: A Winning Approach to Robotic Soccer, Intelligent Robotics & Autonomous
Agents makes four main contributions to the fields of machine learning and multiagent
systems.
Part One: Theoretical Foundations. The first four chapters focus on theoretical underpinnings of research in robot teams, including multirobot tasks and rewards; a survey of existing work in multiagent and multi robot research; and metrics for evaluating the diversity of multirobot teams. Part Two: Enabling Technologies. Each chapter in the middle third of the book describes a "great idea" for multirobot systems. Part Three: Robot Team Case Studies. In the final third of the book, the authors "bring it all together" with a series of chapters describing important implemented systems that demonstrate key aspects of robot teams.
Machines That Walk : The Adaptive Suspension Vehicle, offers an in-depth treatment of the 'statically stable walking machine' theory employed in the design of the ASV, the most sophisticated, self-contained, and practical walking machine ever developed. The book includes ordering information for a 17 minute video of this amazing machine.
In evolutionary robotics, an initial population of artificial chromosomes, each encoding the control system of a robot, is randomly created and put into the environment. Each robot is then free to act (move, look around, manipulate) according to its genetically specified controller while its performance on various tasks is automatically evaluated. The fittest robots then "reproduce" by swapping parts of their genetic material with small random mutations. The process is repeated until the "birth" of a robot that satisfies the performance criteria.
It begins with an introduction to the basics of robotics, then takes a historical look at controlling remote machines, and then examine the difficulties imposed by delayed, low-bandwidth, communications. The authors explains techniques like active force feedback, visual clues, and techniques for diagnosing and recovering from errors. And finally, to show that the ideas are feasible, they describe real working robots.
Chapters include: Radiation and Illumination, Imaging Optics, Radiometry of Imaging, Solid-State Image Sensing, Geometric Calibration of Digital Imaging Systems, Three-Dimensional Imaging Techniques, Representation of Multidimensional Signals, Neighborhood Operators, Motion, Three-Dimensional Imaging Algorithms, Design of Nonlinear Diffusion Filters, Variational Methods for Adaptive Smoothing and Segmentation, Morphological Operators, Probabilistic Modeling in Computer Vision, Fuzzy Image Processing, Neural Net Computing for Image Processing, Applications Gallery. This fresh approach to computer vision bridges gaps between modern physical sciences and the many novel image acquisition techniques; and between basic research and applications.
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Embedded Robotics : Mobile Robot Design and Applications with
Embedded Systems presents a unique combination of mobile robots and embedded systems,
from introductory to intermediate level.
Designing
Autonomous Mobile Robots introduces the reader to the fundamental concepts of this
complex field. The author addresses all the pertinent topics of the electronic hardware
and software of mobile robot design, with particular emphasis on the more difficult
problems of control, navigation, and sensor interfacing.
Mobile robots range from the
teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in
the Paris Metro. Introduction to Autonomous Mobile Robots
offers students and other interested readers an overview of the technology
of mobility--the mechanisms that allow a mobile robot to move through a real
world environment to perform its tasks--including locomotion, sensing,
localization, and motion planning. It discusses all facets of mobile
robotics, including hardware design, wheel design, kinematics analysis,
sensors and perception, localization, mapping, and robot control
architectures.
Mobile
Robotics: A Practical Introduction is an excellent introduction to the foundations
and methods used for designing completely autonomous mobile robots.
Tomorrow's robots, including humanoid
robots, will perform tasks like tutoring children, working as tour guides, driving humans
to work, and the family shopping. They will enhance our lives in ways we never dreamed
possible. No time to attend a meeting on Asian strategy? Let your robot go for you and
make the decisions. Not feeling well enough to go to the clinic? Let Dr. Robot come to
you, make a diagnosis, and get you the necessary medicine for treatment. No time to coach
the soccer team this week? Let the robot do it for you.
With a special emphasis on computation and algorithms, the authors address a
range of strategies for enabling robots to master problems of navigation, pose estimation,
and autonomous exploration. While they concentrate on wheeled and legged mobile robots,
they also discuss a variety of other propulsion systems with kinematic models developed
for many of the more common locomotive strategies. Chapters present algorithms for both
visual and non-visual sensor technologies, including sonar, vision, and laser scanners. In
the section on reasoning, the authors thoroughly examine the subject of planning and the
issues related to spatial representation.
This book is a
collection reports on the technical challenges and future research trends of
building robots that emulate the appearance and behavior of biological
creatures. Topics of the 11 chapters include the development of muscle-like actuators, the principles of animated
expression and motion, haptic interfaces for human-assistive robotics,
orthotic and prosthetic technology, sensors and power supplies, robot
control, cognitive modeling for robots, and current applications that mimic
living creatures. Both black and white and color photographs are provided.
Animal-like robots are playing an
increasingly important role as a link between the worlds of biology and engineering. The
new, multidisciplinary field of biorobotics provides tools for biologists studying animal
behavior and testbeds for the study and evaluation of biological algorithms for potential
engineering applications. Biorobots are now enabling biologists to understand complex
animal-environment relationships. This book unites scientists from diverse disciplines who
are using biorobots to probe animal behavior and brain function.
There are two radically different approaches to robot navigation.
The first is to use a map of the robot's environment; the second uses a set of built-in
reflexes to enable a robot to react rapidly to local sensory information. The
Map-Building and Exploration Strategies of a Simple Sonar-Equipped Mobile Robot
proposes a method for evaluating the different approaches, and shows how to decide which
is the most appropriate for a given robot.
Robotic soccer is emerging as a standard
challenge for AI and robotics researchers. RoboCup's long-term goal is to enable the
creation of a humanoid robotic soccer team that is capable of playing on a full-size field
and beating the best human soccer team by the year 2050. This book contributes some of the
first steps towards attaining this ambitious goal, while at the same time improving our
understanding of what it takes to build complete AI agents.
Robot Teams : From Diversity to Polymorphism examines the
essentials of multi-agent robotics theory and provides descriptions of several systems
demonstrating the key concepts of multi-robot research. Information is presented in a
descriptive manner and augmented with mathematical formulations, photos, diagrams, and
source code examples.
What is 16-feet long, 10-feet high, weighs 6,000 pounds,
has six legs, and can sprint at eight mph and step over a four-foot wall? Answer: the
Adaptive Suspension Vehicle (ASV) described in this book.
Evolutionary
robotics is a new technique for the automatic creation of autonomous robots. Inspired by
the Darwinian principle of selective reproduction of the fittest, it views robots as
autonomous artificial organisms that develop their own skills in close interaction with
the environment and without human intervention. Drawing heavily on biology and ethology,
it uses the tools of neural networks, genetic algorithms, dynamic systems, and biomorphic
engineering. The resulting robots share with simple biological systems the characteristics
of robustness, simplicity, small size, flexibility, and modularity.
The goal of Remote Control Robotics is to
enable you to control a remote robot. If you and the robot both occupy the same room, this
is a simple problem. But consider what happens if we move the robot to a different city
and supply you with a low-bandwidth connection such as the Internet. Now you have to deal
with a low resolution view of the robot and, even worse, a significant time delay. Perhaps
it is on an uneven footpath, or perhaps it is submerged on the sea floor. If the robot
were walking and it stumbled, it would crash to the ground before you even received the
first video image showing any problem. Not only can you not correct if something goes
wrong, but it's much more likely that something will go wrong. That's the subject
of this text. The aim is to let you control a remote robot efficiently, in a real
environment, via a constrained communications link.
The From Animals to Animats series
brings together research intended to advance the frontier of an exciting new approach to
understanding machine intelligence. The contributors represent a broad range of interests
from artificial intelligence and robotics to ethology and the neurosciences. Unifying
these approaches is the notion of "animat" - an artificial animal, either
simulated by a computer or embodied in a robot, which must survive and adapt in
progressively more challenging environments. The contributors focus on well-defined
models, computer simulations, and they build robots in order to help characterize and
compare various principles and architectures capable of inducing adaptive behavior in real
or artificial animals. The researchers gather together about once per year to present the
results of their experiments and they are published in the Animals to Animats
series. 
Based on the highly successful 3-volume reference 