Autonomous Navigation in Dynamic Environments

Wolfram Burgard, Cyrill Stachniss, Dirk Hähnel (auth.), Christian Laugier, Raja Chatila (eds.)9783540734215, 354073421X

The purpose of this book is to address the challenging problem of Autonomous Navigation in Dynamic Environments, and to present new ideas and approaches in this newly emerging technical domain. The book surveys the state-of-the-art, discusses in detail various related challenging technical aspects, and addresses upcoming technologies in this field. The aim of the book is to establish a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions.

Three main topics located on the cutting edge of the state of the art are addressed, from both the theoretical and technological point of views: Dynamic world understanding and modelling for safe navigation, Obstacle avoidance and motion planning in dynamic environments, and Human-robot physical interactions. Several models and approaches are proposed for solving problems such as Simultaneous Localization and Mapping (SLAM) in dynamic environments, Mobile obstacle detection and tracking, World state estimation and motion prediction, Safe navigation in dynamic environments, Motion planning in dynamic environments, Robust decision making under uncertainty, and Human-Robot physical interactions.

Table of contents :
Front Matter….Pages –
Front Matter….Pages 1-1
Mobile Robot Map Learning from Range Data in Dynamic Environments….Pages 3-28
Optical Flow Approaches for Self-supervised Learning in Autonomous Mobile Robot Navigation….Pages 29-44
Steps Towards Safe Navigation in Open and Dynamic Environments….Pages 45-82
Front Matter….Pages 83-83
Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains….Pages 85-106
Motion Planning in Dynamic Environments….Pages 107-119
Recursive Agent Modeling with Probabilistic Velocity Obstacles for Mobile Robot Navigation Among Humans….Pages 121-134
Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments….Pages 135-148
Front Matter….Pages 149-149
Tasking Everyday Interaction….Pages 151-168
Back Matter….Pages –