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- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/07%3A_Feature_ExtractionA robot can obtain information about its environment by both active (e.g., ultra-sound, light, and laser) or passive sensing (e.g., acceleration, magnetic field, or cameras). There are only few cases ...A robot can obtain information about its environment by both active (e.g., ultra-sound, light, and laser) or passive sensing (e.g., acceleration, magnetic field, or cameras). There are only few cases where this information is directly useful to a robot. Before being able to arrive at semantic information such as “I’m in the kitchen”, “this is a cup” or “this is a horse”, is identifying higher-level features. The goal of this chapter is to introduce a series of standard feature detectors such as
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/01%3A_Introduction/1.04%3A_Challenges_of_Mobile_Autonomous_RobotsBeing able to stitch sensor information together to map the environment just by counting your own steps and orienting yourself by using distinct features of the environment is known as Simultaneous Lo...Being able to stitch sensor information together to map the environment just by counting your own steps and orienting yourself by using distinct features of the environment is known as Simultaneous Localization and Mapping (SLAM). The key challenge here is that the length of the steps you take are uncertain (a wheeled robot might slip or have slightly differently sized wheels, e.g.) and it is not possible to recognize places with 100% accuracy (not even for a human).
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/16%3A_How_to_Write_a_Research_Paper/16.03%3A_Survey_and_TutorialA survey following such an outline is a possible deliverable for an independent study or a PhD prelim, but it does not lend itself to describe your efforts on a focused research project. A tutorial is...A survey following such an outline is a possible deliverable for an independent study or a PhD prelim, but it does not lend itself to describe your efforts on a focused research project. A tutorial is closely related to a survey, but focuses more on explaining specific technical content, e.g, the workings of a specific class of algorithms or tool, commonly used in a community.
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/10%3A_Grasping/10.04%3A_ManipulationSimilarly, using two robotic arms, with one grasping an object out of the hand of the other, will allow a robot system to change an object’s pose almost arbitrarly. (Which poses an object will be able...Similarly, using two robotic arms, with one grasping an object out of the hand of the other, will allow a robot system to change an object’s pose almost arbitrarly. (Which poses an object will be able to reach will depend on the object’s exact geometry, the kinematics of the robotic arms, and constraints in the workspace.) So-called in-hand manipulation is still an active area of research as repeatedly picking and placing an object and hand-overs between different arms is considered to be too s…
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/08%3A_Uncertainty_and_Error_Propagation/8.03%3A_ExercisesIn order to calculate the uncertainty of a variable that is derived from a series of measurements, we need to calculate a weighted sum in which each measurement’s variance is weighted by its impact on...In order to calculate the uncertainty of a variable that is derived from a series of measurements, we need to calculate a weighted sum in which each measurement’s variance is weighted by its impact on the output variable. Assume that your measurement of φ is noisy and has a standard deviation σ φ . Use the error propagation law to calculate the resulting variance of your speed estimate σ 2 v .
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/14%3A_Linear_Algebra/14.05%3A_Principal_Component_AnalysisThis approach has a strong geometrical interpretation: given data such as two-dimensional points, say in the shape of a rectangle, the points along the long axis of the rectangle have higher variance ...This approach has a strong geometrical interpretation: given data such as two-dimensional points, say in the shape of a rectangle, the points along the long axis of the rectangle have higher variance than those along the the short axis. Every point in this point cloud can then be reconstructed by a linear combination of the principal component along the long axis and the principal component along the short axis.
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/11%3A_Simultaneous_Localization_and_Mapping/11.03%3A_EKF_SLAMThe key idea in EKF SLAM is to extend the state vector from the robot’s position to contain the position of all features. The action update (or “prediction update”) is identical to that if features ar...The key idea in EKF SLAM is to extend the state vector from the robot’s position to contain the position of all features. The action update (or “prediction update”) is identical to that if features are already known; the robot simply updates its position using odometry and updates the variance of it s position using error propagation. In practice you will need to set only those values of the observation vector (a (3+2N)x1 vector) that correspond to the feature that you observe.
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/15%3A_Statistics
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/01%3A_Introduction/1.01%3A_Intelligence_and_EmbodimentOnce the caster wheel loses contact with the ground—that is the robot has reached the edge—the fly-wheel kicks in and pulls the robot to the right (Figure 1.1). A modern industrial robot would solve t...Once the caster wheel loses contact with the ground—that is the robot has reached the edge—the fly-wheel kicks in and pulls the robot to the right (Figure 1.1). A modern industrial robot would solve the problem completely different: it would first acquire some representation of the environment in the form of a map populated with obstacles, and then plan a path using an algorithm.
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/03%3A_Forward_and_Inverse_Kinematics/3.06%3A_Exercisesa) Write out the entries of a rotation matrix B A R assuming basis vectors X A , Y A , Z A , and X B , Y B , Z B . b) Write out the entries of rotation matrix B A R. Derive the rotation matrix from on...a) Write out the entries of a rotation matrix B A R assuming basis vectors X A , Y A , Z A , and X B , Y B , Z B . b) Write out the entries of rotation matrix B A R. Derive the rotation matrix from one coordinate system into the other and verify that each entry of this matrix is indeed the scalar product of each basis vector of one coordinate system with every other basis vector in the second coordinate system.
- https://eng.libretexts.org/Bookshelves/Mechanical_Engineering/Introduction_to_Autonomous_Robots_(Correll)/09%3A_Localization/9.03%3A_Particle_FilterThis is in part due to the fact that we need to carry the probability to be at a certain location forward for every cell on the grid, regardless of how small this probability is. Every time the robot ...This is in part due to the fact that we need to carry the probability to be at a certain location forward for every cell on the grid, regardless of how small this probability is. Every time the robot moves, we will move each particle in the exact same way, but add noise to each movement much like we would observe on the real robot.
