Artificial Intelligence in Wireless Robotics

Front Cover
Artificial Intelligence in Wireless Robotics
Contents
Preface
List of Figures
List of Tables
List of Abbreviations
01 Introduction to Artificial Intelligence and Robotics
1.1 Common Sense Knowledge of AI, Cybernetics, and Robotics
1.2 Intelligent Agents
1.2.1 The Concept of Rationality
1.2.2 System Dynamics
1.2.3 Task Environments
1.2.4 Robotics and Multi-Agent Systems
1.3 Reasoning
1.3.1 Constraint Satisfaction Problems
1.3.2 Solving CSP by Search
References
02 Basic Search Algorithms
2.1 Problem-Solving Agents
2.2 Searching for Solutions
2.3 Uniform Search
2.3.1 Breadth-First Search
2.3.2 Dynamic Programming
2.3.3 Depth-first Search
2.4 Informed Search
2.5 Optimization
2.5.1 Linear Programming
2.5.2 Nonlinear Programming
2.5.3 Convex Optimization
References
03 Machine Learning Basics
3.1 Supervised Learning
3.1.1 Regression
3.1.2 Bayesian Classification
3.1.3 KNN
3.1.4 Support Vector Machine
3.2 Unsupervised Learning
3.2.1 K-Means Clustering
3.2.2 EM Algorithms
3.2.3 Principal Component Analysis
3.3 Deep Neural Networks
3.4 Data Preprocessing
References
04 Markov Decision Processes
4.1 Statistical Decisions
4.1.1 Mathematical Foundation
4.1.2 Bayes Decision
4.1.3 Radar Signal Detection
4.1.4 Bayesian Sequential Decision
4.2 Markov Decision Processes
4.2.1 Mathematical Formulation of Markov Decision Process
4.2.2 Optimal Policies
4.2.3 Developing Solutions to Bellman Equation
4.3 Decision Making and Planning: Dynamic Programming
4.4 Application of MDP to Search A Mobile Target
4.5 Multi-Armed Bandit Problem
4.5.1 ε-Greedy Algorithm
4.5.2 Upper Confidence Bounds
4.5.3 Thompson Sampling
References
05 Reinforcement Learning
5.1 Fundamentals of Reinforcement Learning
5.1.1 Revisit of Multi-Armed Bandit Problem
5.1.2 Basics in Reinforcement Learning
5.1.3 Reinforcement Learning Based on Markov Decision Process
5.1.4 Bellman Optimality Principle
5.2 Q-Learning
5.2.1 Partially Observable States
5.2.2 Q-Learning Algorithm
5.2.3 Illustration of Q-Learning
5.3 Model-Free Learning
5.3.1 Monte Carlo Methods
5.3.2 Temporal Difference Learning
5.3.3 SARSA
5.3.4 Relationship Between Q-Learning and TD-Learning
References
06 State Estimation
6.1 Fundamentals of Estimation
6.1.1 Linear Estimator from Observations
6.1.2 Linear Prediction
6.1.3 Bayesian Estimation
6.1.4 Maximum Likelihood Estimation
6.2 Recursive State Estimation
6.3 Bayes Filters
6.4 Gaussian Filters
6.4.1 Kalman Filter
6.4.2 Scalar Kalman Filter
6.4.3 Extended Kalman Filter
References
07 Localization
7.1 Localization By Sensor Network
7.1.1 Time-of-Arrival Techniques
7.1.2 Angle-of-Arrival Techniques
7.1.3 Time-Difference-of-Arrivals Techniques
7.2 Mobile Robot Localization
7.3 Simultaneous Localization and Mapping
7.3.1 Probabilistic SLAM
7.3.2 SLAM with Extended Kalman Filter
7.3.3 SLAM Assisted by Stereo Camera
7.4 Network Localization and Navigation
References
08 Robot Planning
8.1 Knowledge Representation and Classic Logic
8.1.1 Bayesian Networks
8.1.2 Semantic Representation
8.2 Discrete Planning
8.3 Planning and Navigation of An Autonomous Mobile Robot
8.3.1 Illustrative Example for Planning and Navigation
8.3.2 Reinforcement Learning Formulation
8.3.3 Fixed Length Planning
8.3.4 Conditional Exhaustive Planning
References
09 Multi-Modal Data Fusion
9.1 Computer Vision
9.1.1 Basics of Computer Vision
9.1.2 Edge Detection
9.1.3 Image Features and Object Recognition
9.2 Multi-Modal Information Fusion Based on Visionary Functionalities
9.3 Decision Trees
9.3.1 Illustration of Decisions
9.3.2 Formal Treatment
9.3.3 Classification Trees
9.3.4 Regression Trees
9.3.5 Rules and Trees
9.3.6 Localizing A Robot
9.3.7 Reinforcement Learning with Decision Trees
9.4 Federated Learning
9.4.1 Federated Learning Basics
9.4.2 Federated Learning Through Wireless Communications
9.4.3 Federated Learning over Wireless Networks
9.4.4 Federated Learning over Multiple Access Communications
References
10 Multi-Robot Systems
10.1 Multi-Robot Task Allocation
10.1.1 Optimal Allocation
10.1.2 Multiple Traveling Salesmen Problem
10.1.3 Factory Automation
10.2 Wireless Communications and Networks
10.2.1 Digital Communication Systems
10.2.2 Computer Networks
10.2.3 Multiple Access Communication
10.3 Networked Multi-Robot Systems
10.3.1 Connected Autonomous Vehicles in Manhattan Streets
10.3.2 Networked Collaborative Multi-Robot Systems
References
Index
About the Author
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