Ronald C. Arkin

Ronald C. Arkin is Professor and Director of the Mobile Robot Laboratory, College of Computing, Georgia Institute of Technology.

  • Behavior-Based Robotics

    Behavior-Based Robotics

    Ronald C. Arkin

    Foreword by Michael Arbib

    This introduction to the principles, design, and practice of intelligent behavior-based autonomous robotic systems is the first true survey of this robotics field. The author presents the tools and techniques central to the development of this class of systems in a clear and thorough manner. Following a discussion of the relevant biological and psychological models of behavior, he covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence.

    The text throughout refers to actual implemented robots and includes many pictures and descriptions of hardware, making it clear that these are not abstract simulations, but real machines capable of perception, cognition, and action.

    • Hardcover $93.00
    • Paperback $55.00


  • The Developmental Organization of Robot Behavior

    Roderic A. Grupen

    A comprehensive introduction to the mathematical foundations of movement and actuation that apply equally to animals and machines.

    This textbook offers a computational framework for the sensorimotor stage of development as applied to robotics. Much work in developmental robotics is based on ad hoc examples, without a full computational basis. This book's comprehensive and complete treatment fills the gap, drawing on the principal mechanisms of development in the first year of life to introduce what is essentially an operating system for developing robots. The goal is to apply principles of development to robot systems that not only achieve new levels of performance but also provide evidence for scientific theories of human development.

    The book covers motor units, explaining how animals and robots actuate and control their bodies; discusses kinematics and dynamics of articulated sensorimotor mechanisms, including a traditional treatment of the kinematics of grasping; examines the commonly used sensor modalities of vision and touch, comparing them to their biological counterparts; and explores the role of developmental neurology in the first year of life, codifying it in a computational architecture for developmental robotics. Written exercises reinforce the content. Programming projects can be undertaken using a simple robot simulator, “Roger” (named after Paul Churchland's Roger the Crab). Appendixes provide supporting mathematics, including a primer on linear algebra and integral transforms, common methods for deriving the dynamic equation of motion for articulated systems, the basics of numerical relaxation, and an introduction to Q-learning.

    • Hardcover $70.00
  • Learning for Adaptive and Reactive Robot Control

    A Dynamical Systems Approach

    Aude Billard, Sina Mirrazavi, and Nadia Figueroa

    Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises.

    This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills.

    Learning for Adaptive and Reactive Robot Control can be used in graduate-level courses in robotics, and, the chapters proceed from fundamentals to more advanced content. The first section presents an overview of the techniques introduced, including learning from demonstration, optimization, and reinforcement learning. Subsequent sections present the core techniques for learning control laws with dynamical systems, trajectory planning with dynamical systems, and methods for compliant and force control using dynamical systems. Each chapter describes applications, which range from arm manipulators to whole-body control of humanoid robots, and offers both pencil-and-paper and programming exercises. Lecture videos, slides, and MATLAB code examples are available on the author's website. An instructors-only website offers additional material.

    • Hardcover $85.00
  • Multi-Agent Oriented Programming

    Multi-Agent Oriented Programming

    Programming Multi-Agent Systems Using JaCaMo

    Olivier Boissier, Rafael H. Bordini, Jomi Hübner, and Alessandro Ricci

    The main concepts and techniques of multi-agent oriented programming, which supports the multi-agent systems paradigm at the programming level.

    A multi-agent system is an organized ensemble of autonomous, intelligent, goal-oriented entities called agents, communicating with each other and interacting within an environment. This book introduces the main concepts and techniques of multi-agent oriented programming, (MAOP) which supports the multi-agent systems paradigm at the programming level. MAOP provides a structured approach based on three integrated dimensions, which the book examines in detail: the agent dimension, used to design the individual (interacting) entities; the environment dimension, which allows the development of shared resources and connections to the real world; and the organization dimension, which structures the interactions among the autonomous agents and the shared environment.

    The book puts the approach into practice using the JaCaMo programming model and platform. It employs an easy-to-follow, step-by-step style, showing solutions to increasingly complex scenarios. The book also discusses the integration of MAOP into existing technologies and application domains, including mobile computing, web-based computing, and robotics. Finally, it considers artificial intelligence (AI)–related classical problems from an MAOP perspective and discusses an agent-oriented approach to software engineering.

    • Hardcover $50.00
  • Introduction to AI Robotics, Second Edition

    Introduction to AI Robotics, Second Edition

    Robin R. Murphy

    A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications.

    This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities.

    This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping,  human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.

    • Hardcover $90.00
  • Mobile Microrobotics

    Mobile Microrobotics

    Metin Sitti

    The first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches.

    Progress in micro- and nano-scale science and technology has created a demand for new microsystems for high-impact applications in healthcare, biotechnology, manufacturing, and mobile sensor networks. The new robotics field of microrobotics has emerged to extend our interactions and explorations to sub-millimeter scales. This is the first textbook on micron-scale mobile robotics, introducing the fundamentals of design, analysis, fabrication, and control, and drawing on case studies of existing approaches.

    The book covers the scaling laws that can be used to determine the dominant forces and effects at the micron scale; models forces acting on microrobots, including surface forces, friction, and viscous drag; and describes such possible microfabrication techniques as photo-lithography, bulk micromachining, and deep reactive ion etching. It presents on-board and remote sensing methods, noting that remote sensors are currently more feasible; studies possible on-board microactuators; discusses self-propulsion methods that use self-generated local gradients and fields or biological cells in liquid environments; and describes remote microrobot actuation methods for use in limited spaces such as inside the human body. It covers possible on-board powering methods, indispensable in future medical and other applications; locomotion methods for robots on surfaces, in liquids, in air, and on fluid-air interfaces; and the challenges of microrobot localization and control, in particular multi-robot control methods for magnetic microrobots. Finally, the book addresses current and future applications, including noninvasive medical diagnosis and treatment, environmental remediation, and scientific tools.

    • Hardcover $65.00
  • Unmanned Systems of World Wars I and II

    Unmanned Systems of World Wars I and II

    H. R. Everett

    The first comprehensive technical history of air, land, sea, and underwater unmanned systems, by a distinguished U.S. Navy roboticist.

    Military drones have recently been hailed as a revolutionary new technology that will forever change the conduct of war. And yet the United States and other countries have been deploying such unmanned military systems for more than a century. Written by a renowned authority in the field, this book documents the forgotten legacy of these pioneering efforts, offering the first comprehensive historical and technical accounting of unmanned air, land, sea, and underwater systems. Focusing on examples introduced during the two world wars, H. R. Everett meticulously traces their development from the mid-nineteenth century to the early Cold War. A pioneering Navy roboticist, Everett not only describes these systems in detail but also reverse-engineers the designs in order to explain how they operated in real-world conditions of the time. More than 500 illustrations—photographs, drawings, and plans, many of them never before published—accompany the text.

    Everett covers the evolution of early wire-guided submersibles, tracing the development of power, propulsion, communication, and control; radio-controlled surface craft, deployed by both Germany and Great Britain in World War I; radio-controlled submersibles; radio-controlled aircraft, including the TDR-1 assault drone project in World War II—which laid the groundwork for subsequent highly classified drone programs; and remote-controlled ground vehicles, including the Wehrmacht's Goliath and Borgward demolition carriers.

    • Hardcover $85.00
  • Developmental Robotics

    Developmental Robotics

    From Babies to Robots

    Angelo Cangelosi and Matthew Schlesinger

    A comprehensive overview of an interdisciplinary approach to robotics that takes direct inspiration from the developmental and learning phenomena observed in children's cognitive development.

    Developmental robotics is a collaborative and interdisciplinary approach to robotics that is directly inspired by the developmental principles and mechanisms observed in children's cognitive development. It builds on the idea that the robot, using a set of intrinsic developmental principles regulating the real-time interaction of its body, brain, and environment, can autonomously acquire an increasingly complex set of sensorimotor and mental capabilities. This volume, drawing on insights from psychology, computer science, linguistics, neuroscience, and robotics, offers the first comprehensive overview of a rapidly growing field.

    After providing some essential background information on robotics and developmental psychology, the book looks in detail at how developmental robotics models and experiments have attempted to realize a range of behavioral and cognitive capabilities. The examples in these chapters were chosen because of their direct correspondence with specific issues in child psychology research; each chapter begins with a concise and accessible overview of relevant empirical and theoretical findings in developmental psychology. The chapters cover intrinsic motivation and curiosity; motor development, examining both manipulation and locomotion; perceptual development, including face recognition and perception of space; social learning, emphasizing such phenomena as joint attention and cooperation; language, from phonetic babbling to syntactic processing; and abstract knowledge, including models of number learning and reasoning strategies. Boxed text offers technical and methodological details for both psychology and robotics experiments.

    • Hardcover $70.00
  • The Horizons of Evolutionary Robotics

    The Horizons of Evolutionary Robotics

    Patricia A. Vargas, Ezequiel A. Di Paolo, Inman Harvey, and Phil Husbands

    An authoritative overview of current research in this exciting interdisciplinary field.

    Evolutionary robotics (ER) aims to apply evolutionary computation techniques to the design of both real and simulated autonomous robots. The Horizons of Evolutionary Robotics offers an authoritative overview of this rapidly developing field, presenting state-of-the-art research by leading scholars. The result is a lively, expansive survey that will be of interest to computer scientists, robotics engineers, neuroscientists, and philosophers.

    The contributors discuss incorporating principles from neuroscience into ER; dynamical analysis of evolved agents; constructing appropriate evolutionary pathways; spatial cognition; the coevolution of robot brains and bodies; group behavior; the evolution of communication; translating evolved behavior into design principles; the development of an evolutionary robotics–based methodology for shedding light on neural processes; an incremental approach to complex tasks; and the notion of “mindless intelligence”—complex processes from immune systems to social networks—as a way forward for artificial intelligence.

    Contributors Christos Ampatzis, Randall D. Beer, Josh Bongard, Joachim de Greeff, Ezequiel A. Di Paolo, Marco Dorigo, Dario Floreano, Inman Harvey, Sabine Hauert, Phil Husbands, Laurent Keller, Michail Maniadakis, Orazio Miglino, Sara Mitri, Renan Moioli, Stefano Nolfi, Michael O'Shea, Rainer W. Paine, Andy Philippides, Jordan B. Pollack, Michela Ponticorvo, Yoon-Sik Shim, Jun Tani, Vito Trianni, Elio Tuci, Patricia A. Vargas, Eric D. Vaughan

    • Hardcover $60.00
  • Disaster Robotics

    Disaster Robotics

    Robin R. Murphy

    A comprehensive, authoritative, and accessible reference for disaster robotics that covers theory, specific deployments, and ground, air, and marine modalities.

    This book offers the definitive guide to the theory and practice of disaster robotics. It can serve as an introduction for researchers and technologists, a reference for emergency managers, and a textbook in field robotics. Written by a pioneering researcher in the field who has herself participated in fifteen deployments of robots in disaster response and recovery, the book covers theory and practice, the history of the field, and specific missions.

    After a broad overview of rescue robotics in the context of emergency informatics, the book provides a chronological summary and formal analysis of the thirty-four documented deployments of robots to disasters that include the 2001 collapse of the World Trade Center, Hurricane Katrina, the 2010 Haiti earthquake, the Deepwater Horizon oil spill, the 2011 Japanese earthquake and tsunami, and numerous mining accidents. It then examines disaster robotics in the typical robot modalities of ground, air, and marine, addressing such topics as robot types, missions and tasks, and selection heuristics for each modality. Finally, the book discusses types of fieldwork, providing practical advice on matters that include collecting data and collaborating with emergency professionals.

    The field of disaster robotics has lacked a comprehensive overview. This book by a leader in the field, offering a unique combination of the theoretical and the practical, fills the gap.

    • Hardcover $50.00
    • Paperback $35.00
  • Multiagent Systems, Second Edition

    Multiagent Systems, Second Edition

    Gerhard Weiss

    The new edition of an introduction to multiagent systems that captures the state of the art in both theory and practice, suitable as textbook or reference.

    Multiagent systems are made up of multiple interacting intelligent agents—computational entities to some degree autonomous and able to cooperate, compete, communicate, act flexibly, and exercise control over their behavior within the frame of their objectives. They are the enabling technology for a wide range of advanced applications relying on distributed and parallel processing of data, information, and knowledge relevant in domains ranging from industrial manufacturing to e-commerce to health care. This book offers a state-of-the-art introduction to multiagent systems, covering the field in both breadth and depth, and treating both theory and practice. It is suitable for classroom use or independent study.

    This second edition has been completely revised, capturing the tremendous developments in multiagent systems since the first edition appeared in 1999. Sixteen of the book's seventeen chapters were written for this edition; all chapters are by leaders in the field, with each author contributing to the broad base of knowledge and experience on which the book rests.

    The book covers basic concepts of computational agency from the perspective of both individual agents and agent organizations; communication among agents; coordination among agents; distributed cognition; development and engineering of multiagent systems; and background knowledge in logics and game theory. Each chapter includes references, many illustrations and examples, and exercises of varying degrees of difficulty. The chapters and the overall book are designed to be self-contained and understandable without additional material. Supplemental resources are available on the book's Web site.

    Contributors Rafael Bordini, Felix Brandt, Amit Chopra, Vincent Conitzer, Virginia Dignum, Jürgen Dix, Ed Durfee, Edith Elkind, Ulle Endriss, Alessandro Farinelli, Shaheen Fatima, Michael Fisher, Nicholas R. Jennings, Kevin Leyton-Brown, Evangelos Markakis, Lin Padgham, Julian Padget, Iyad Rahwan, Talal Rahwan, Alex Rogers, Jordi Sabater-Mir, Yoav Shoham, Munindar P. Singh, Kagan Tumer, Karl Tuyls, Wiebe van der Hoek, Laurent Vercouter, Meritxell Vinyals, Michael Winikoff, Michael Wooldridge, Shlomo Zilberstein

    • Hardcover $95.00
    • Paperback $70.00
  • Robot Ethics

    Robot Ethics

    The Ethical and Social Implications of Robotics

    Patrick Lin, Keith Abney, and George A. Bekey

    Prominent experts from science and the humanities explore issues in robot ethics that range from sex to war.

    Robots today serve in many roles, from entertainer to educator to executioner. As robotics technology advances, ethical concerns become more pressing: Should robots be programmed to follow a code of ethics, if this is even possible? Are there risks in forming emotional bonds with robots? How might society—and ethics—change with robotics? This volume is the first book to bring together prominent scholars and experts from both science and the humanities to explore these and other questions in this emerging field.

    Starting with an overview of the issues and relevant ethical theories, the topics flow naturally from the possibility of programming robot ethics to the ethical use of military robots in war to legal and policy questions, including liability and privacy concerns. The contributors then turn to human-robot emotional relationships, examining the ethical implications of robots as sexual partners, caregivers, and servants. Finally, they explore the possibility that robots, whether biological-computational hybrids or pure machines, should be given rights or moral consideration.

    Ethics is often slow to catch up with technological developments. This authoritative and accessible volume fills a gap in both scholarly literature and policy discussion, offering an impressive collection of expert analyses of the most crucial topics in this increasingly important field.

    • Hardcover $47.00
    • Paperback $35.00
  • Introduction to Autonomous Mobile Robots, Second Edition

    Introduction to Autonomous Mobile Robots, Second Edition

    Roland Siegwart, Illah Reza Nourbakhsh, and Davide Scaramuzza

    The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms.

    Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.

    This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

    Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

    • Hardcover $75.00
  • Self-Reconfigurable Robots

    Self-Reconfigurable Robots

    An Introduction

    Kasper Støy, David Brandt, and David J. Christensen

    A comprehensive survey of the growing field of self-reconfigurable robots that discusses the history of the field, design considerations, and control strategies.

    Self-reconfigurable robots are constructed of robotic modules that can be connected in many different ways. These modules move in relationship to each other, which allows the robot as a whole to change shape. This shapeshifting makes it possible for the robots to adapt and optimize their shapes for different tasks. Thus, a self-reconfigurable robot can first assume the shape of a rolling track to cover distance quickly, then the shape of a snake to explore a narrow space, and finally the shape of a hexapod to carry an artifact back to the starting point. The field of self-reconfigurable robots has seen significant progress over the last twenty years, and this book collects and synthesizes existing research previously only available in widely scattered individual papers, offering an accessible guide to the latest information on self-reconfigurable robots for researchers and students interested in the field. Self-Reconfigurable Robots focuses on conveying the intuition behind the design and control of self-reconfigurable robots rather than technical details. Suggestions for further reading refer readers to the underlying sources of technical information. The book includes descriptions of existing robots and a brief history of the field; discussion of module design considerations, including module geometry, connector design, and computing and communication infrastructure; an in-depth presentation of strategies for controlling self-reconfiguration and locomotion; and exploration of future research challenges.

    • Hardcover $40.00
  • The Art of Agent-Oriented Modeling

    The Art of Agent-Oriented Modeling

    Leon S. Sterling and Kuldar Taveter

    A new approach for conceptualizing and modeling multi-agent systems that consist of people, devices, and software agents.

    Today, when computing is pervasive and deployed over a range of devices by a multiplicity of users, we need to develop computer software to interact with both the ever-increasing complexity of the technical world and the growing fluidity of social organizations. The Art of Agent-Oriented Modeling presents a new conceptual model for developing software systems that are open, intelligent, and adaptive. It describes an approach for modeling complex systems that consist of people, devices, and software agents in a changing environment (sometimes known as distributed sociotechnical systems). The authors take an agent-oriented view, as opposed to the more common object-oriented approach. Thinking in terms of agents (which they define as the human and man-made components of a system), they argue, can change the way people think of software and the tasks it can perform. The book offers an integrated and coherent set of concepts and models, presenting the models at three levels of abstraction corresponding to a motivation layer (where the purpose, goals, and requirements of the system are described), a design layer, and an implementation layer. It compares platforms by implementing the same models in four different languages; compares methodologies by using a common example; includes extensive case studies; and offers exercises suitable for either class use or independent study.

    • Hardcover $40.00
  • Bio-Inspired Artificial Intelligence

    Bio-Inspired Artificial Intelligence

    Theories, Methods, and Technologies

    Dario Floreano and Claudio Mattiussi

    A comprehensive introduction to new approaches in artificial intelligence and robotics that are inspired by self-organizing biological processes and structures.

    New approaches to artificial intelligence spring from the idea that intelligence emerges as much from cells, bodies, and societies as it does from evolution, development, and learning. Traditionally, artificial intelligence has been concerned with reproducing the abilities of human brains; newer approaches take inspiration from a wider range of biological structures that that are capable of autonomous self-organization. Examples of these new approaches include evolutionary computation and evolutionary electronics, artificial neural networks, immune systems, biorobotics, and swarm intelligence—to mention only a few. This book offers a comprehensive introduction to the emerging field of biologically inspired artificial intelligence that can be used as an upper-level text or as a reference for researchers. Each chapter presents computational approaches inspired by a different biological system; each begins with background information about the biological system and then proceeds to develop computational models that make use of biological concepts. The chapters cover evolutionary computation and electronics; cellular systems; neural systems, including neuromorphic engineering; developmental systems; immune systems; behavioral systems—including several approaches to robotics, including behavior-based, bio-mimetic, epigenetic, and evolutionary robots; and collective systems, including swarm robotics as well as cooperative and competitive co-evolving systems. Chapters end with a concluding overview and suggested reading.

    • Hardcover $70.00
  • The Robotics Primer

    The Robotics Primer

    Maja J. Mataric

    A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists.

    The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms.

    The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.

    • Paperback $45.00
  • Autonomous Bidding Agents

    Autonomous Bidding Agents

    Strategies and Lessons from the Trading Agent Competition

    Michael P. Wellman, Amy Greenwald, and Peter Stone

    Overview and analysis of algorithmic advances developed within an integrated bidding agent architecture that emerged from recent research in a growing domain of AI.

    E-commerce increasingly provides opportunities for autonomous bidding agents: computer programs that bid in electronic markets without direct human intervention. Automated bidding strategies for an auction of a single good with a known valuation are fairly straightforward; designing strategies for simultaneous auctions with interdependent valuations is a more complex undertaking. This book presents algorithmic advances and strategy ideas within an integrated bidding agent architecture that have emerged from recent work in this fast-growing area of research in academia and industry. The authors analyze several novel bidding approaches that developed from the Trading Agent Competition (TAC), held annually since 2000. The benchmark challenge for competing agents—to buy and sell multiple goods with interdependent valuations in simultaneous auctions of different types—encourages competitors to apply innovative techniques to a common task. The book traces the evolution of TAC and follows selected agents from conception through several competitions, presenting and analyzing detailed algorithms developed for autonomous bidding. Autonomous Bidding Agents provides the first integrated treatment of methods in this rapidly developing domain of AI. The authors—who introduced TAC and created some of its most successful agents—offer both an overview of current research and new results.

    • Hardcover $8.75
    • Paperback $30.00
  • Probabilistic Robotics

    Probabilistic Robotics

    Sebastian Thrun, Wolfram Burgard, and Dieter Fox

    An introduction to the techniques and algorithms of the newest field in robotics.

    Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site,, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

    • Hardcover $85.00
  • Autonomous Robots

    Autonomous Robots

    From Biological Inspiration to Implementation and Control

    George A. Bekey

    An introduction to the science and practice of autonomous robots that reviews over 300 current systems and examines the underlying technology.

    Autonomous robots are intelligent machines capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner. In this book, George Bekey offers an introduction to the science and practice of autonomous robots that can be used both in the classroom and as a reference for industry professionals. He surveys the hardware implementations of more than 300 current systems, reviews some of their application areas, and examines the underlying technology, including control, architectures, learning, manipulation, grasping, navigation, and mapping. Living systems can be considered the prototypes of autonomous systems, and Bekey explores the biological inspiration that forms the basis of many recent developments in robotics. He also discusses robot control issues and the design of control architectures.

    After an overview of the field that introduces some of its fundamental concepts, the book presents background material on hardware, control (from both biological and engineering perspectives), software architecture, and robot intelligence. It then examines a broad range of implementations and applications, including locomotion (wheeled, legged, flying, swimming, and crawling robots), manipulation (both arms and hands), localization, navigation, and mapping. The many case studies and specific applications include robots built for research, industry, and the military, among them underwater robotic vehicles, walking machines with four, six, and eight legs, and the famous humanoid robots Cog, Kismet, ASIMO, and QRIO. The book concludes with reflections on the future of robotics—the potential benefits as well as the possible dangers that may arise from large numbers of increasingly intelligent and autonomous robots.

    • Hardcover $67.00
    • Paperback $55.00
  • Principles of Robot Motion

    Principles of Robot Motion

    Theory, Algorithms, and Implementations

    Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun

    A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts.

    Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.

    • Hardcover $85.00
  • Introduction to Autonomous Mobile Robots

    Introduction to Autonomous Mobile Robots

    Illah Reza Nourbakhsh and Roland Siegwart

    An overview of all aspects of mobility in robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.

    Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous Mobile Robots offers students and other interested readers an overview of the technology of mobility—the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks—including locomotion, sensing, localization, and motion planning. It discusses all facets of mobile robotics, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, and robot control architectures.

    The design of any successful robot involves the integration of many different disciplines, among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory. Reflecting this, the book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter covers a different aspect of mobility, as the book moves from low-level to high-level details. The first two chapters explore low-level locomotory ability, examining robots' wheels and legs and the principles of kinematics. This is followed by an in-depth view of perception, including descriptions of many "off-the-shelf" sensors and an analysis of the interpretation of sensed data. The final two chapters consider the higher-level challenges of localization and cognition, discussing successful localization strategies, autonomous mapping, and navigation competence. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook for coursework or a working tool for beginners in the field.

    • Hardcover $55.00
  • Designing Sociable Robots

    Designing Sociable Robots

    Cynthia Breazeal

    Cynthia Breazeal here presents her vision of the sociable robot of the future, a synthetic creature and not merely a sophisticated tool. A sociable robot will be able to understand us, to communicate and interact with us, to learn from us and grow with us. It will be socially intelligent in a humanlike way. Eventually sociable robots will assist us in our daily lives, as collaborators and companions. Because the most successful sociable robots will share our social characteristics, the effort to make sociable robots is also a means for exploring human social intelligence and even what it means to be human.

    Breazeal defines the key components of social intelligence for these machines and offers a framework and set of design issues for their realization. Much of the book focuses on a nascent sociable robot she designed named Kismet. Breazeal offers a concrete implementation for Kismet, incorporating insights from the scientific study of animals and people, as well as from artistic disciplines such as classical animation. This blending of science, engineering, and art creates a lifelike quality that encourages people to treat Kismet as a social creature rather than just a machine. The book includes a CD-ROM that shows Kismet in action.

    • Hardcover $63.00
    • Paperback $35.00
  • Strategic Negotiation in Multiagent Environments

    Strategic Negotiation in Multiagent Environments

    Sarit Kraus

    A model for strategic negotiation for intelligent agents.

    As computers advance from isolated workstations to linked elements in complex communities of systems and people, cooperation and coordination via intelligent agents become increasingly important. Examples of such communities include the Internet, electronic commerce, health institutions, electricity networks, and digital libraries.

    Sarit Kraus is concerned here with the cooperation and coordination of intelligent agents that are self-interested and usually owned by different individuals or organizations. Conflicts frequently arise, and negotiation is one of the main mechanisms for reaching agreement. Kraus presents a strategic-negotiation model that enables autonomous agents to reach mutually beneficial agreements efficiently in complex environments. The model, which integrates game theory, economic techniques, and heuristic methods of artificial intelligence, can be automated in computer systems or applied to human situations. The book provides both theoretical and experimental results.

    • Hardcover $50.00
  • Mechanics of Robotic Manipulation

    Mechanics of Robotic Manipulation

    Matthew T. Mason

    The science and engineering of robotic manipulation.

    "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms.

    The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

    • Hardcover $53.00
  • Evolutionary Robotics

    Evolutionary Robotics

    The Biology, Intelligence, and Technology of Self-Organizing Machines

    Dario Floreano and Stefano Nolfi

    Evolutionary robotics is a new technique for the automatic creation of autonomous robots. Inspired by the Darwinian principle of selective reproduction of the fittest, it views robots as autonomous artificial organisms that develop their own skills in close interaction with the environment and without human intervention. Drawing heavily on biology and ethology, it uses the tools of neural networks, genetic algorithms, dynamic systems, and biomorphic engineering. The resulting robots share with simple biological systems the characteristics of robustness, simplicity, small size, flexibility, and modularity.In evolutionary robotics, an initial population of artificial chromosomes, each encoding the control system of a robot, is randomly created and put into the environment. Each robot is then free to act (move, look around, manipulate) according to its genetically specified controller while its performance on various tasks is automatically evaluated. The fittest robots then "reproduce" by swapping parts of their genetic material with small random mutations. The process is repeated until the "birth" of a robot that satisfies the performance criteria.

    This book describes the basic concepts and methodologies of evolutionary robotics and the results achieved so far. An important feature is the clear presentation of a set of empirical experiments of increasing complexity. Software with a graphic interface, freely available on a Web page, will allow the reader to replicate and vary (in simulation and on real robots) most of the experiments.

    • Hardcover $60.00
    • Paperback $45.00
  • Introduction to AI Robotics

    Introduction to AI Robotics

    Robin R. Murphy

    A comprehensive introduction to the AI approach to robotics, combining theoretical rigor and practical applications; with case studies and exercises.

    This text covers all the material needed to understand the principles behind the AI approach to robotics and to program an artificially intelligent robot for applications involving sensing, navigation, planning, and uncertainty. Robin Murphy is extremely effective at combining theoretical and practical rigor with a light narrative touch. In the overview, for example, she touches upon anthropomorphic robots from classic films and science fiction stories before delving into the nuts and bolts of organizing intelligence in robots.

    Following the overview, Murphy contrasts AI and engineering approaches and discusses what she calls the three paradigms of AI robotics: hierarchical, reactive, and hybrid deliberative/reactive. Later chapters explore multiagent scenarios, navigation and path-planning for mobile robots, and the basics of computer vision and range sensing. Each chapter includes objectives, review questions, and exercises. Many chapters contain one or more case studies showing how the concepts were implemented on real robots. Murphy, who is well known for her classroom teaching, conveys the intellectual adventure of mastering complex theoretical and technical material. An Instructor's Manual including slides, solutions, sample tests, and programming assignments is available to qualified professors who are considering using the book or who are using the book for class use.

    • Hardcover $80.00
  • Reasoning about Rational Agents

    Reasoning about Rational Agents

    Michael Wooldridge

    This book focuses on the belief-desire-intention (BDI) model of rational agents, which recognizes the primacy of beliefs, desires, and intentions in rational action.

    One goal of modern computer science is to engineer computer programs that can act as autonomous, rational agents; software that can independently make good decisions about what actions to perform on our behalf and execute those actions. Applications range from small programs that intelligently search the Web buying and selling goods via electronic commerce, to autonomous space probes. This book focuses on the belief-desire-intention (BDI) model of rational agents, which recognizes the primacy of beliefs, desires, and intentions in rational action. The BDI model has three distinct strengths: an underlying philosophy based on practical reasoning in humans, a software architecture that is implementable in real systems, and a family of logics that support a formal theory of rational agency.The book introduces a BDI logic called LORA (Logic of Rational Agents). In addition to the BDI component, LORA contains a temporal component, which allows one to represent the dynamics of how agents and their environments change over time, and an action component, which allows one to represent the actions that agents perform and the effects of the actions. The book shows how LORA can be used to capture many components of a theory of rational agency, including such notions as communication and cooperation.

    • Hardcover $45.00
    • Paperback $25.00
  • Layered Learning in Multiagent Systems

    Layered Learning in Multiagent Systems

    A Winning Approach to Robotic Soccer

    Peter Stone

    This book looks at multiagent systems that consist of teams of autonomous agents acting in real-time, noisy, collaborative, and adversarial environments.

    This book looks at multiagent systems that consist of teams of autonomous agents acting in real-time, noisy, collaborative, and adversarial environments. The book makes four main contributions to the fields of machine learning and multiagent systems. First, it describes an architecture within which a flexible team structure allows member agents to decompose a task into flexible roles and to switch roles while acting. Second, it presents layered learning, a general-purpose machine-learning method for complex domains in which learning a mapping directly from agents' sensors to their actuators is intractable with existing machine-learning methods. Third, the book introduces a new multiagent reinforcement learning algorithm—team-partitioned, opaque-transition reinforcement learning (TPOT-RL)—designed for domains in which agents cannot necessarily observe the state-changes caused by other agents' actions. The final contribution is a fully functioning multiagent system that incorporates learning in a real-time, noisy domain with teammates and adversaries—a computer-simulated robotic soccer team. Peter Stone's work is the basis for the CMUnited Robotic Soccer Team, which has dominated recent RoboCup competitions. RoboCup not only helps roboticists to prove their theories in a realistic situation, but has drawn considerable public and professional attention to the field of intelligent robotics. The CMUnited team won the 1999 Stockholm simulator competition, outscoring its opponents by the rather impressive cumulative score of 110-0.

    • Hardcover $50.00
  • Multiagent Systems

    Multiagent Systems

    A Modern Approach to Distributed Artificial Intelligence

    Gerhard Weiss

    This is the first comprehensive introduction to multiagent systems and contemporary distributed artificial intelligence that is suitable as a textbook. The book provides detailed coverage of basic topics as well as several closely related ones.

    Unlike traditional textbooks, the book brings together many leading experts, guaranteeing a broad and diverse base of knowledge and expertise. It emphasizes aspects of both theory and application, and provides many illustrations and examples. Also included are thought-provoking exercises of varying degrees of difficulty and a twenty-page glossary of terms found in the study of agents, multiagent systems, and distributed artificial intelligence.

    The book can be used for teaching as well as self-study, and is designed to meet the needs of both researchers and practitioners. In view of the interdisciplinary nature of the field, it will be a useful reference not only for computer scientists and engineers, but for social scientists and management and organization scientists as well.

    Contributors Gul A. Agha, Kathleen M. Carley, Jose Cuena, Edmund H. Durfee, Clarence Ellis, Les Gasser, Michael P. Georgeff, Michael N. Huhns, Toru Ishida, Nadeem Jamali, Sascha Ossowski, H. Van Dyke Parunak, Anand S. Rao, Tuomas W. Sandholm, Sandip Sen, Munindar P. Singh, Larry M. Stephens, Gerard Tel, Jacques Wainer, Gerhard Weiss, Michael J. Wooldridge, Makoto Yokoo

    • Hardcover $62.00
    • Paperback $58.00
  • Robot Shaping

    Robot Shaping

    An Experiment in Behavior Engineering

    Marco Dorigo and Marco Colombetti

    foreword by Lashon Booker

    To program an autonomous robot to act reliably in a dynamic environment is a complex task. The dynamics of the environment are unpredictable, and the robots' sensors provide noisy input. A learning autonomous robot, one that can acquire knowledge through interaction with its environment and then adapt its behavior, greatly simplifies the designer's work. A learning robot need not be given all of the details of its environment, and its sensors and actuators need not be finely tuned.

    Robot Shaping is about designing and building learning autonomous robots. The term "shaping" comes from experimental psychology, where it describes the incremental training of animals. The authors propose a new engineering discipline, "behavior engineering," to provide the methodologies and tools for creating autonomous robots. Their techniques are based on classifier systems, a reinforcement learning architecture originated by John Holland, to which they have added several new ideas, such as "mutespec," classifier system "energy," and dynamic population size. In the book they present Behavior Analysis and Training (BAT) as an example of a behavior engineering methodology.

    • Hardcover $45.00