Where am I? Sensors and Methods for Mobile Robot Positioning

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274 Index Abidi ................................ 236 Acuna ................................ 236 Adams ...... 121, 123, 131, 202, 236, 254, 258 Adrian ............................... 236 Agent ............................ 182, 236 Aggarwal .... 175, 176, 185, 187, 197, 214, 215, Aldon ................................ 254 Allen ............................. 236, 257 Amai ................................. 250 Arakawa .............................. 245 Aras ................................. 246 Arditty ................... 36, 38, 39, 41, 243 Arenas ........................... 176, 246 Arimoto .............................. 253 Arkin ............................. 99, 236 Aronowitz ......................... 36, 236 Asada ................................ 259 Atiya ......................... 211, 236, 245 Attolico .............................. 241 Aviles ................................ 236 Avolio ............................ 13, 236 Ayache ........................... 216, 237 Baines ............................ 237, 255 Bains ................................ 246 Baker ............................ 169, 237 Banzil ................................ 237 Barbieri ...................... 113, 157, 243 Baron ........................ 176, 227, 244 Barrett ............................ 60, 237 Barshan ................... 34, 146-148, 237 Barth ................................. 261 Benchetrit ............................. 252 Benedetto ......................... 231, 251 Benhabib ......................... 260, 261 Bennett ........................ 44, 236, 237 Besant ............................ 165, 250 Betke ........................ 153, 210, 237 Beveridge ......................... 243, 259 Beyer ................................ 237 Bhanu ................................ 258 Biber ................................ 237 Binger ................................ 237 Blais ................................. 259 Blaszyk ......................... 40, 41, 250 Bohlander ............................. 259 Bolles ............................ 212, 243 Boltinghouse .................. 116, 238, 247 Bolz ......................... 181, 234, 238 Borenstein ..... 2, 15, 26, 96, 99, 132, 134-136, AUTHOR INDEX Bourbakis ............................. 259 Brooks ............................... 239 Brown ............................. 72, 239 Brubacher ............................. 255 Brunner .............................. 236 Buchberger ........................ 186, 239 228, 248, 253, 260 Buholz ............................ 38, 240 Bulkeley .............................. 240 Burke ................................ 238 Burns ................................ 240 Byrd ............................. 115, 240 Byrne ..... 2, 4, 18, 73, 74, 77, 78, 85, 130, 178, 240, 250 Byun ................................. 260 Cao .............................. 240, 259 Caponetti ............................. 241 Capozzo .............................. 241 Carlson ............................ 50, 250 Carroll ............................... 246 Carter ................................ 240 Case ................................. 153 Chandra .......................... 228, 236 Chao ................................. 240 Chelberg .............................. 260 Chen ......................... 213, 240, 259 Chenavier ..................... 130, 210, 240 Chesnoy ........................... 38, 240 Chi .................................. 261 Chiarella .......................... 167, 248 Chodorow ...................... 38, 240, 254 Chow ............................. 36, 240 Christian ........................... 38, 241 Clark ............................. 241, 255 Clergeot .............................. 242 Cohen .................... 129, 152, 172, 241 Colvin ................................ 271 Dick ................................. 271 Congdon .......................... 197, 241 Conrad ........................... 114, 241 Cooper ............................ 77, 241 Courtney .............. 186, 197, 203, 204, 241 Cox .......................... 134, 198, 241 Crowley ...... 20, 130, 185, 188, 189, 197, 199, 210, 231, 232, 240, 241, 252, 259 Curran ............................... 259 D'Orazio .............................. 241 Dahlin ................................ 242 DeCorte .......................... 177, 241 Depkovich ........................ 101, 242 Deveza ........................... 181, 241 139, 142-144, 149, 176, 197, 232, 238, 239, DeVries .......................... 115, 240 243, 250 Dibburn .............................. 242
Index 275 Dickerson ............................. 259 Distante .............................. 241 Dodington ............................ 242 Domey ............................... 259 Doussis ............................... 243 Drake ............................ 259, 260 Duchnowski ........................ 67, 242 Dudek ............................ 232, 260 Dunlap ............................... 242 Durieu ............................... 242 Durrant-Whyte ..................... 237, 241 Dyott ................................. 236 Edlinger .............................. 242 Elfes ...................... 99, 197, 242, 249 Elgazzar .............................. 252 Ellin ................................. 237 Ellowitz .............................. 242 Emge ............................. 44, 237 Engelson ...................... 186, 187, 242 Etersky ............................... 244 Evans ............................ 130, 242 Everett ......2, 4, 52, 53, 99, 176, 177, 242, 243 Ewing ................................ 244 Ezekial ............................ 36, 243 Fainman .............................. 243 Fan ...................... 103-105, 163, 243 Faugeras .......................... 216, 237 Feiten ........................ 216, 237, 248 Feng ... 2, 34, 132, 134-136, 139, 141, 142, 149, Fenn .............................. 63, 243 Fennema ...................... 214, 243, 259 Figueroa ...................... 156, 157, 243 Fischler ........................... 212, 243 Fisher ................................ 244 Fleury ................................ 244 Flynn ............................. 14, 246 Fournier .............................. 254 Fox .................................. 244 Fraden ............................... 244 Frank ......................... 16, 129, 250 Frederiksen ........................... 244 Fujimura .............................. 261 Fujiwara .............................. 253 Fukui ............................ 176, 244 Gage ................................. 243 Gan .......................... 226, 232, 255 Ganapathy ........................ 212, 244 Gerver ............................... 243 Getting ............................... 244 Geyger ............................... 244 Gilbert ............................ 46, 244 Gilbreth .......................... 242, 243 Goldenberg ........................... 260 Goncalves ............................. 261 Gonzalez ............. 199, 218, 236, 244, 252 Gothard .............................. 244 Gould ................................ 244 Gourley ........................... 137, 244 Grabbe ....................... 146, 222, 250 Green ................................ 252 Grenoble .......................... 47, 244 Gunther .......................... 169, 245 Gurvits ................... 153, 154, 210, 237 Hager ................ 175, 211, 227, 236, 245 Hall ......45, 47, 57-59, 233, 237, 240, 248, 259 Hamanaka ............................ 252 Hammond ...................... 97, 240, 245 Hanawa .............................. 249 Hanson ........................... 243, 259 Harmon .......................... 245, 259 Haralick .......................... 213, 245 Harris ................. 69, 115, 237, 245, 256 Hashimoto ........................ 226, 253 Haenderson ................... 241, 253, 254 Henkel ............................... 245 Hine .............................. 51, 245 Hinkel ............................ 189, 245 Ho ................................... 238 Hockney .............................. 243 Holcombe ............................. 259 Holenstein ............................ 245 Holland ........................ 23, 244-246 Holle .............................. 14, 245 176, 222, 239, 243 Hollingum ........................ 130, 245 Hong ................................. 260 Hongo ............................ 138, 245 Hoppen ........................... 185, 245 Hosoi ................................ 253 Howard ........................... 244, 245 Huang ............................ 248, 259 Huber ................................ 129 Hurn ................................. 245 Hwang ......................... 72, 73, 239 Hyyppa ............................... 248 Ianigro ............................... 241 Inigo ............................. 259, 260 Ishida ................................ 248 Jacobus ............................... 237 Jaffe ................................. 247 Jain ......... 186, 197, 203, 204, 233, 241, 261 Janet ................................. 246 Jasiobedzki ............................ 246 Jenkin ................................ 246 Johnson ...................... 101, 243, 248 Jones ................................. 246 Jörg ......................... 186, 239, 246 Kabuka ........................... 176, 246 Kadonoff .............................. 246 Kaiser ............................ 246, 254
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7KH8QLYHUVLW\RI0LFKLJDQ Where am I
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Acknowledgments This research was s
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2.4.2.2 Watson Gyrocompass ........
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6.4 Summary .......................
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INTRODUCTION Leonard and Durrant-Wh
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Part I Sensors for Mobile Robot Pos
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14 Part I Sensors for Mobile Robot
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CHAPTER 2 HEADING SENSORS Heading s
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6 42 Part I Sensors for Mobile Robo
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CHAPTER 5 ODOMETRY AND OTHER DEAD-R
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132 Part II Systems and Methods for
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R e t r o r e f l e c t i v e m a r
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CHAPTER 8 MAP-BASED POSITIONING Map
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Page 226 and 227: Systems-at-a Glance Tables Beacon N
Page 228 and 229: Systems-at-a-Glance Tables Landmark
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Page 236 and 237: REFERENCES 1. Abidi, M. and Chandra
Page 238 and 239: 238 References 31. Boltinghouse, S.
Page 240 and 241: 240 References MOBOT-IV.” Proceed
Page 242 and 243: 242 References 90. Dahlin, T. and K
Page 244 and 245: 244 References 120. Fisher, D., Hol
Page 246 and 247: 246 References 156. Janet, J., Luo,
Page 248 and 249: 248 References 187. Larsson, U., Ze
Page 250 and 251: 250 References 220. Nolan, D.A., Bl
Page 252 and 253: 252 References 249. Sanders, G.A.,
Page 254 and 255: 254 References 278. Turpin, D.R., 1
Page 256 and 257: 256 References 309. EATON - Eaton-K
Page 258 and 259: 258 References 349. SPSi - Spatial
Page 260 and 261: 260 References 380. MacKenzie, P. a
Page 262 and 263: 262 Index AC ..............47, 59,
Page 264 and 265: 264 Index Datums ..................
Page 266 and 267: 266 Index glass ...................
Page 268 and 269: 268 Index lateral-post ............
Page 270 and 271: 270 Index NPN .....................
Page 272 and 273: 272 Index signal ..... 17, 31, 38,
Page 276 and 277: 276 Index Kak .....................
Page 278 and 279: 278 Index Weiman ..................
Page 280 and 281: 280 Index Video Index This CD-ROM c
Page 282: 282 Index Paper 52 Paper 53 Paper 5
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