Page 14 - Introduction to AI Robotics

Contents
11.6 Comparison of Methods 403 xv
11.6.1 Example computations 403
11.6.2 Performance 411
11.6.3 Errors due to observations from stationary robot 412
11.6.4 Tuning 413
11.7 Localization 415
11.7.1 Continuous localization and mapping 416
11.7.2 Feature-based localization 421
11.8 Exploration 424
11.8.1 Frontier-based exploration 425
11.8.2 Generalized Voronoi graph methods 427
11.9 Summary 428
11.10 Exercises 431
11.11 End Notes 434
12 On the Horizon 435
12.1 Overview 435
12.2 Shape-Shifting and Legged Platforms 438
12.3 Applications and Expectations 442
12.4 Summary 445
12.5 Exercises 445
12.6 End Notes 447

Bibliography 449

Index 459