Intro -- Title Page -- Copyright Page -- Contents -- Preface -- About the Authors -- Introduction -- Chapter 1 Kinematic Models for Mobile Robots -- 1.1 Introduction -- 1.2 Vehicles with Front-Wheel Steering -- 1.3 Vehicles with Differential-Drive Steering -- Exercises -- References -- Chapter 2 Mobile Robot Control -- 2.1 Introduction -- 2.2 Front-Wheel Steered Vehicle, Heading Control -- 2.3 Front-Wheel Steered Vehicle, Speed Control -- 2.4 Heading and Speed Control for the Differential-Drive Robot -- 2.5 Reference Trajectory and Incremental Control, Front-Wheel Steered Robot -- 2.6 Heading Control of Front-Wheel Steered Robot Using the Nonlinear Model -- 2.7 Computed Control for Heading and Velocity, Front-Wheel Steered Robot -- 2.8 Heading Control of Differential-Drive Robot Using the Nonlinear Model -- 2.9 Computed Control for Heading and Velocity, Differential-Drive Robot -- 2.10 Steering Control Along a Path Using a Local Coordinate Frame -- 2.11 Optimal Steering of Front-Wheel Steered Vehicle -- 2.12 Optimal Steering of Front-Wheel Steered Vehicle, Free Final Heading Angle -- Exercises -- References -- Chapter 3 Robot Attitude -- 3.1 Introduction -- 3.2 Definition of Yaw, Pitch, and Roll -- 3.3 Rotation Matrix for Yaw -- 3.4 Rotation Matrix for Pitch -- 3.5 Rotation Matrix for Roll -- 3.6 General Rotation Matrix -- 3.7 Homogeneous Transformation -- 3.8 Rotating a Vector -- Exercises -- References -- Chapter 4 Robot Navigation -- 4.1 Introduction -- 4.2 Coordinate Systems -- 4.3 Earth-Centered Earth-Fixed Coordinate System -- 4.4 Associated Coordinate Systems -- 4.5 Universal Transverse Mercator Coordinate System -- 4.6 Global Positioning System -- 4.7 Computing Receiver Location Using GPS, Numerical Methods -- 4.7.1 Computing Receiver Location Using GPS via Newton's Method.