Reviews the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are introduced as an economical repre

We review the use of factor graphs for the modeling and solving of large-scale inference problems in robotics. Factor graphs are a family of probabilistic graph

Presents a holistic, energy-based view of robotic systems. It examines the relevance of such energy considerations to robotics; starting from the fundamental as

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.