Mobile robotA mobile robot is an automatic machine that is capable of locomotion. Mobile robotics is usually considered to be a subfield of robotics and information engineering. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. Mobile robots can be "autonomous" (AMR - autonomous mobile robot) which means they are capable of navigating an uncontrolled environment without the need for physical or electro-mechanical guidance devices.
Simultaneous localization and mappingSimultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken or the egg problem, there are several algorithms known to solve it in, at least approximately, tractable time for certain environments. Popular approximate solution methods include the particle filter, extended Kalman filter, covariance intersection, and GraphSLAM.
Indoor positioning systemAn indoor positioning system (IPS) is a network of devices used to locate people or objects where GPS and other satellite technologies lack precision or fail entirely, such as inside multistory buildings, airports, alleys, parking garages, and underground locations. A large variety of techniques and devices are used to provide indoor positioning ranging from reconfigured devices already deployed such as smartphones, WiFi and Bluetooth antennas, digital cameras, and clocks; to purpose built installations with relays and beacons strategically placed throughout a defined space.
RobotA robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.
Ultra-widebandUltra-wideband (UWB, ultra wideband, ultra-wide band and ultraband) is a radio technology that can use a very low energy level for short-range, high-bandwidth communications over a large portion of the radio spectrum. UWB has traditional applications in non-cooperative radar imaging. Most recent applications target sensor data collection, precise locating, and tracking. UWB support started to appear in high-end smartphones in 2019. Ultra-wideband is a technology for transmitting information across a wide bandwidth (>500 MHz).
Non-line-of-sight propagationNon-line-of-sight (NLOS) radio propagation occurs outside of the typical line-of-sight (LOS) between the transmitter and receiver, such as in ground reflections. Near-line-of-sight (also NLOS) conditions refer to partial obstruction by a physical object present in the innermost Fresnel zone. Obstacles that commonly cause NLOS propagation include buildings, trees, hills, mountains, and, in some cases, high voltage electric power lines.
Robot navigationRobot localization denotes the robot's ability to establish its own position and orientation within the frame of reference. Path planning is effectively an extension of localisation, in that it requires the determination of the robot's current position and a position of a goal location, both within the same frame of reference or coordinates. Map building can be in the shape of a metric map or any notation describing locations in the robot frame of reference. For any mobile device, the ability to navigate in its environment is important.
Maximum likelihood estimationIn statistics, maximum likelihood estimation (MLE) is a method of estimating the parameters of an assumed probability distribution, given some observed data. This is achieved by maximizing a likelihood function so that, under the assumed statistical model, the observed data is most probable. The point in the parameter space that maximizes the likelihood function is called the maximum likelihood estimate. The logic of maximum likelihood is both intuitive and flexible, and as such the method has become a dominant means of statistical inference.
Iron sightsIron sights are a system of physical alignment markers (usually made of metallic material) used as a sighting device to assist the accurate aiming of ranged weapons (such as a firearm, airgun, crossbow and compound bow), or less commonly as a primitive finder sight for optical telescopes. The earliest sighting device, it relies completely on the viewer's naked eye (mostly under ambient lighting), and is distinctly different to optical sights such as telescopic sights, reflector (reflex) sights, holographic sights and laser sights, which make use of optical manipulation and/or active illumination.
Reflector sightA reflector sight or reflex sight is an optical sight that allows the user to look through a partially reflecting glass element and see an illuminated projection of an aiming point or some other image superimposed on the field of view. These sights work on the simple optical principle that anything at the focus of a lens or curved mirror (such as an illuminated reticle) will appear to be sitting in front of the viewer at infinity.
Sight (device)A sight or sighting device is any device used to assist in precise visual alignment (i.e. aiming) of ranged weapons, surveying instruments, aircraft equipment or optical illumination equipments with the intended target. Sights can be a simple set or system of physical markers that serve as visual references for directly aligning the user's line of sight with the target (such as iron sights on firearms), or optical instruments that provide an optically enhanced — often magnified — target image aligned in the same focus with an aiming point (e.
Global Positioning SystemThe Global Positioning System (GPS), originally Navstar GPS, is a satellite-based radio navigation system owned by the United States government and operated by the United States Space Force. It is one of the global navigation satellite systems (GNSS) that provides geolocation and time information to a GPS receiver anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites.
Telescopic sightA telescopic sight, commonly called a scope informally, is an optical sighting device based on a refracting telescope. It is equipped with some form of a referencing pattern – known as a reticle – mounted in a focally appropriate position in its optical system to provide an accurate point of aim. Telescopic sights are used with all types of systems that require magnification in addition to reliable visual aiming, as opposed to non-magnifying iron sights, reflector (reflex) sights, holographic sights or laser sights, and are most commonly found on long-barrel firearms, particularly rifles, usually via a scope mount.
Laser sight (firearms)A laser sight is a device attached or integral to a firearm to aid target acquisition. Unlike optical and iron sights where the user looks through the device to aim at the target, laser sights project a beam onto the target, providing a visual reference point. Although lasers in the visible part of the spectrum are most common, invisible infrared (IR) lasers may be used in conjunction with a night vision device. As they are offset from the barrel, laser sights need to be zeroed in, much like a conventional sight, so that the beam intercepts the point of impact at a chosen distance.
Military robotMilitary robots are autonomous robots or remote-controlled mobile robots designed for military applications, from transport to search & rescue and attack. Some such systems are currently in use, and many are under development. Broadly defined, military robots date back to World War II and the Cold War in the form of the German Goliath tracked mines and the Soviet teletanks. The introduction of the MQ-1 Predator drone was when "CIA officers began to see the first practical returns on their decade-old fantasy of using aerial robots to collect intelligence".
Autonomous robotAn autonomous robot is a robot that acts without recourse to human control. The first autonomous robots environment were known as Elmer and Elsie, which were constructed in the late 1940s by W. Grey Walter. They were the first robots in history that were programmed to "think" the way biological brains do and meant to have free will. Elmer and Elsie were often labeled as tortoises because of how they were shaped and the manner in which they moved. They were capable of phototaxis which is the movement that occurs in response to light stimulus.
Efficiency (statistics)In statistics, efficiency is a measure of quality of an estimator, of an experimental design, or of a hypothesis testing procedure. Essentially, a more efficient estimator needs fewer input data or observations than a less efficient one to achieve the Cramér–Rao bound. An efficient estimator is characterized by having the smallest possible variance, indicating that there is a small deviance between the estimated value and the "true" value in the L2 norm sense.
Estimation theoryEstimation theory is a branch of statistics that deals with estimating the values of parameters based on measured empirical data that has a random component. The parameters describe an underlying physical setting in such a way that their value affects the distribution of the measured data. An estimator attempts to approximate the unknown parameters using the measurements.
Fisher informationIn mathematical statistics, the Fisher information (sometimes simply called information) is a way of measuring the amount of information that an observable random variable X carries about an unknown parameter θ of a distribution that models X. Formally, it is the variance of the score, or the expected value of the observed information. The role of the Fisher information in the asymptotic theory of maximum-likelihood estimation was emphasized by the statistician Ronald Fisher (following some initial results by Francis Ysidro Edgeworth).
Kalman filterFor statistics and control theory, Kalman filtering, also known as linear quadratic estimation (LQE), is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, and produces estimates of unknown variables that tend to be more accurate than those based on a single measurement alone, by estimating a joint probability distribution over the variables for each timeframe. The filter is named after Rudolf E. Kálmán, who was one of the primary developers of its theory.
