Robot Behaviour

Design, Description, Analysis and Modelling

By: Ulrich Nehmzow

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Paperback | 28 November 2008

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272 Pages

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Robots have evolved impressively since the 3-D manipulator built by C.W. K- ward (1957), the two little electromechanical turtles Elmer and Elsie [Walter, 1950, Walter, 1951], and the ?rst mobile robots controlled by comp- ers, Shakey [Nilsson, 1984], CART [Moravec, 1979, Moravec, 1983], and - lare [Giralt et al., 1979]. Since then, we have seen industrial robot manipu- tors working in car factories, automatic guided vehicles moving heavy loads along pre-de?ned routes, human-remotely-operated robots neutralising bombs, and even semi-autonomous robots, like Sojourner, going to Mars and moving from one position to another commanded from Earth. Robots will go further and further in our society. However, there is still a kind of robot that has not completely taken off so far: autonomous robots. Autonomy depends upon working without human supervision for a considerable amount of time, taking independent decisions, adapting to new challenges in dynamic environments, interacting with other systems and humans, and so on. Research on autonomy is highly motivated by the expectations of having robots that can work with us and for us in everyday environments, assisting us at home or work, acting as servants and companions to help us in the execution of different tasks, so that we can have more spare time and a better quality of life.

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You Can Find This Book In

Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Computing & I.T.Computer Science Artificial Intelligence Psychology Science Biology, Life Sciences

Life Sciences in General Neurosciences Energy Technology & Engineering Electrical Engineering

Introduction to this Book	p. 1
How to Make a Robot Behave - Now and Then	p. 1
Outlook	p. 3
A Brief Introduction to Mobile Robotics	p. 5
This Book Is Not About Mobile Robotics	p. 5
What Is Mobile Robotics?	p. 5
The Emergence of Behaviour	p. 9
Examples of Research Issues in Autonomous Mobile Robotics	p. 12
Summary	p. 13
Introduction to Scientific Methods in Mobile Robotics	p. 15
Introduction	p. 15
Motivation For This Book: Analytical Robotics	p. 17
Robot-Environment Interaction as Computation	p. 19
A Theory of Robot-Environment Interaction	p. 21
Robot Engineering vs. Robot Science	p. 23
Scientific Method and Autonomous Mobile Robotics	p. 24
Tools Used In This Book	p. 32
Summary: The Contrast Between Experimental Mobile Robotics and Scientific Mobile Robotics	p. 33
Statistical Tools for Describing Experimental Data	p. 35
Introduction	p. 35
The Normal Distribution	p. 36
Parametric Methods to Compare Samples	p. 39
Nonparametric Methods to Compare Samples	p. 53
Testing for Randomness in a Sequence	p. 66
Parametric Tests for a Trend (Correlation Analysis)	p. 68
Nonparametric Tests for a Trend	p. 76
Analysing Categorical Data	p. 81
Principal Component Analysis	p. 92
Exercises	p. 96
Describing Behaviour Quantitatively Through Dynamical Systems Theory and Chaos Theory	p. 99
Introduction	p. 99
Dynamical Systems Theory	p. 99
Describing (Robot) Behaviour Quantitatively Through Phase Space Analysis	p. 110
Sensitivity to Initial Conditions: The Lyapunov Exponent	p. 114
Aperiodicity: The Dimension of Attractors	p. 130
Summary	p. 133
Analysis of Agent Behaviour: Case Studies	p. 135
Analysing the Movement of a Random-Walk Mobile Robot	p. 135
"Chaos Walker"	p. 140
Analysing the Flight Paths of Carrier Pigeons	p. 147
Computer Modelling of Robot-Environment Interaction	p. 153
Introduction	p. 153
Some Practical Considerations Regarding Robot Modelling	p. 155
Case Study: Model Acquisition Using Artificial Neural Networks	p. 158
Linear Polynomial Models and Linear Recurrence Relations	p. 164
ARMAX Modelling	p. 165
NARMAX Modelling	p. 169
Interpretation of Polynomial Models (Sensitivity Analysis)	p. 171
Summary	p. 179
Accurate Simulation Through System Identification	p. 181
Introduction	p. 181
Environment Modelling: ARMAX Example	p. 184
Localisation Through Environment Modelling	p. 187
Robot Programming Through System Identification	p. 199
Identifying a Wall-Following Behaviour Using ARMAX	p. 199
Identifying Wall-Following Behaviour Using NARMAX	p. 202
Platform-Independent Programming Through Task Identification: The RobotMODIC Process	p. 204
Obtaining Task-Achieving Competences Through Training	p. 206
Behaviour to Code: Direct Translation of Observed Behaviour Into Robot Code	p. 211
Other Applications of Transparent Modelling Through System Identification	p. 219
Sensor Identification	p. 219
Quantitative Comparison of Behaviours and Model Validity	p. 223
Conclusion	p. 231
Motivation for Scientific Methods in Robotics	p. 231
Quantitative Descriptions of Robot-Environment Interaction	p. 232
A Theory of Robot-Environment Interaction	p. 233
Outlook: Towards Analytical Robotics	p. 235
Answers to Exercises	p. 237
References	p. 243
Index	p. 249
Table of Contents provided by Ingram. All Rights Reserved.

Robot Behaviour

Design, Description, Analysis and Modelling

At a Glance

Paperback

Shipping

How to return your order

Defective items

You Can Find This Book In

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