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1、SpringerTractsinAdvancedRoboticsVolume72Editors:BrunoSiciliano·OussamaKhatib·FransGroenJohnMullane,Ba-NguVo,MartinAdams,andBa-TuongVoRandomFiniteSetsforRobotMappingandSLAMNewConceptsinAutonomousRoboticMapRepresentationsABCProfessorBrunoSiciliano,DipartimentodiInform
2、aticaeSistemistica,UniversitàdiNapoliFedericoII,ViaClaudio21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfe
3、ssorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,E-mail:groen@science.uva.nlAuthorsDr.JohnMullaneProf.MartinAdamsNanyangTechnologicalUniversityUniversidaddeChileSchoolofElectrical&ElectronicEngineeringDe
4、partmentofElectricalEngineering50NanyangAvenueAv.Tupper2007Singapore639798837-0451SantiagoSingaporeChileE-mail:jsmullane@ntu.edu.sgE-mail:martin@ing.uchile.clProf.Ba-NguVoDr.Ba-TuongVoTheUniversityofWesternAustraliaTheUniversityofWesternAustraliaSchoolofElectrical,E
5、lectronic&SchoolofElectrical,Electronic&ComputerEngineeringComputerEngineering35StirlingHighway35StirlingHighwayCrawley6009Crawley6009WesternAustraliaWesternAustraliaE-mail:bnvo@ee.uwa.edu.auE-mail:btv@ee.uwa.edu.auISBN978-3-642-21389-2e-ISBN978-3-642-21390-8DOI10.1
6、007/978-3-642-21390-8SpringerTractsinAdvancedRoboticsISSN1610-7438LibraryofCongressControlNumber:2011928065c2011Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftran
7、slation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andper
8、missionforusemustalwaysbeobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,
