robotics_glossary

# robotics_glossary

Robotics glossary of acronyms.
Check also the [awesome-robotics](https://github.com/mdrwiega/awesome-robotics) list.

## General

- AGV - Automated Guided Vehicle
- DOF - Degrees Of Freedom
- FSM - Finite State Machine
- NN - Nearest-Neighbor
- MRS - Multi-Robot System
- MVS - Multi-view stereo
- INS - Inertial Navigation System
- GNSS - Global Navigation Satellite System
- GPS - Global Positioning System
- HMM - Hidden Markov Models
- HRI - Human-robot Interaction
- MLE - Maximum likelihood estimation
- MDP - Markov decision process
- C-SAM - Collaborative Smoothing and Mapping
- USAR - Urban Search and Rescue
- UAV - Unmanned Aerial Vehicle
- NLP - Natural Language Processing
- DT - Digital Twin
- CPI - Counts Per Inch
- CPS - Cooperative Positioning System


## Math

- EVD - Eigenvalue Decomposition
- PDF - Probability Density Function
- SVD - Singular Value Decomposition
- MAE - Mean Absolute Error
- MSE - Mean Square Error
- RMSE - Root Mean Square Error
- MAPE - Mean Absolute Percentage Error
- RPY - Roll Pitch Yaw

## Software

- MRPT - Mobile Robot Programming Toolkit
- PCL - Point Cloud Library
- ROS - Robot Operating System
- OMPL - Open Motion Planning Library
- URDF - Unified Robot Description Format
- SRDF - Semantic Robot Description Format
- RCL - ROS Client Library
- RMW - ROS Middleware
- IDL - Interface Definition Language
- DDS - Data distribution service
- USD - Universal Scene Description
- FLANN - Fast Library for Approximate Nearest Neighbors
- YARP - Yet Another Robot Platform

### Software development

- LUT - Look-up table
- RAII - Resource Acquisition Is Initialization
- SDK - Software Development Kit
- GUI - Graphical User Interface
- ABI - Application Binary Interface
- API - Application Programming Interface
- POD - Plain Old Data
- EOF - End Of File
- EOL - End Of Line
- DRY - Don't Repeat Yourself
- YAGNI - You aren't gonna need it
- KISS - Keep it Simple Stupid
- CI - Continuous Integration
- CD - Continuous Delivery
- UT - Unit Tests
- MT - Module Tests
- SCA - Static Code Analysis
- DCA - Dynamic Code Analysis

#### C++

- RVO - Return Value Optimization
- PIMPL - Pointer to IMPLementation
- SFINAE - Substitution Failure Is Not An Error
- RTTI - Run-time Type Information
- ODR - One Definition Rule
- SSO - Short String Optimization

## Hardware

### Electronics

- CDM - Charged-Device Model
- CCD - Charge Coupled Device
- CMOS - Complementary Metal-Oxide Semiconductor
- ESD - Electrostatic Discharge
- EMI - Electromagnetic Interference
- FET - Field Effect Transistor
- LCD - Liquid Crystal Display
- LED - Light Emitting DIode
- MOSFET - Metal-Oxide-Semiconductor Field-Effect Transistor
- NMOS - Negative-channel Metal-Oxide Semiconductor
- PCB - Printed-Circuit Board
- RF - Radio Frequency

### Processors/microcontrollers

- VLSI - Very Large-Scale Integration
- IC - Integrated Circuit
- SoC - System on a Chip
- LPGA - Laser Programmable Gate Array
- FPGA - Field Programmable Gate Array
- ASIC - Application-Specific Integrated Circuit
- CPU - Central Processing Unit
- FPU - Floating Point Unit
- ALU - Arithmetical and Logic Unit
- CISC - Complex Instruction Set Computer
- RISC - Reduced Instruction Set Computer
- ARM - Advanced RISC Machines
- ISA - Instruction Set Architectures
- SMT - Simultaneous Multithreading
- VFP - Vector Floating Point
- SIMD - Single Instruction, Multiple Data
- MMU - Memory Management Unit
- CRC - Cyclic redundancy check
- DMA - Direct Memory Access
- NVIC - Nested Vectored Interrupt Controller
- RTC - Real-time clock
- MPU - Memory Protection Unit
- RAM - Random Access Memory
- ROM - Read Only Memory
- DAC - Digital Analog Converter
- ADC - Analog/Digital Converter
- JTAG - Joint Test Action Group

#### Registers

- SP - Stack Pointer
- PC - Program Counter
- ISP - Interrupt Stack Pointer
- IR - Instruction Register

### Interfaces

- GPIO - General Purpose Input/Output
- UART - Universal Asynchronous Receiver/Transmitter
- I2C - Inter-Integrated Circuit
- SPI - Serial Peripheral Interface Bus
- CAN - Controller Area Network
- HDMI - High-Definition Multimedia Interface
- USB - Universal Serial Bus
- VGA - Video Graphics Array

## Algorithms

- NDT - Normal Distributions Transform
- GNN - Global nearest-neighbor
- k-NN - k-Nearest Neighbors
- HOG - Histogram of local Oriented Gradients
- MTT - Multitarget Tracking
- SJPDAF - Sample Based Joint Probabilistic Data Association Filter
- OFC - Object Following Controller
- FABMAP - Fast Appearance-Based Mapping

- SEIF - Sparse Extended Information Filter
- MRF - Markov Random Field
- RRT - Rapidly exploring random tree
- 3DHV - 3D Hough voting
- SSM - Spectral Scan Matching
- LSM - Least Square Method

### Computer vision (2D/3D)

- CV - Computer Vision
- FOV - Field of View
- GCC - Geometry Consistency Clustering
- RANSAC - Random Sample Consensus
- ICP - Iterative Closest Point
- SFM - Structure From Motion
- OF - Optical Flow
- NARF - Normal Aligned Radial Feature
- ISS - Intrinsic Shape Signatures
- SIFT - Scale Invariant Feature Transform
- SURF - Speeded Up Robust Feature
- BRIEF - Binary Robust Independent Elementary Feature
- GPU - Graphics Processing Unit
- GPGPU - General Purpose Computing on GPU
- CUDA - Compute Unified Device Architecture
- HLSL - High-level shader language
- VO - Visual Odometry

### Artificial Intelligence

- AI - Artificial Intelligence
- ML - Machine Learning
- DL - Deep Learning
- IRL - Inverse Reinforcement Learning
- SVM - Support Vector Machine
- RF - Random Forest
- SVM - Support Vector Machine
- NN - Neural Networks
- ANN - Artificial Neural Networks
- CNN - Convolutional Neural Network
- RNN - Recurrent Neural Network
- RCNN - Recurrent Convolutional Neural Networks
- ReLU - Rectified Linear Unit
- TPU - Tensor Processing Unit

### State estimation

- KF - Kalman filter
- EKF - Extended Kalman Filter
- UKF - Unscented Kalman Filter
- RBPF - Rao-Blackwellized Particle Filter
- MCL - Monte-Carlo Localization
- MHT - Multiple-Hypothesis tracking
- MF - Madgwick Filter
- PF - Particle Filter
- SLAM - Simultaneous Localization And Mapping
- MRSLAM - Multi-Robot SLAM

### Control algorithms

- DWA - Dynamic Window Approach
- PID - Proportional Integration Derivative
- MPC - Model Predictive Control
- SISO - Single-input single-output
- MIMO - Multiple-input multiple-output

### Optimization algorithms

- BA - Bundle Adjustment

## Sensors

- IMU - Inertial Measurement Unit
- LIDAR - Light Detection And Ranging
- LRF - Laser Range Finder
- RGB-D - Red Green Blue Depth
- SONAR - Sound Navigation and Ranging
- RADAR - Radio Detection and Ranging
- ToF - Time of Flight

## Actuators

- BLDC - Brushless Direct-Current
- FOC - Field-oriented control (Vector control)
- VFD - Variable-Frequency Drive
- LQG - Linear Quadratic Gaussian

## Manipulators

- PTP - Point-To-Point
- TCP - Tool Center Position

- GCS - Global Coordinate System
- MCS - Machine Coordinate System
- TCS - Tool Coordinate System
- WCS - Workpiece Coordinate System

## Autonomous Vehicles

- SAE - Society of Automotive Engineers
- MaaS - Mobility as a Service
- ASWG - Autoware Software Working Group
- ADAS - Advanced Driver Assistance Systems
- MRM - Minimum Risk Maneuver
- RSS - Responsibility Sensitive Safety
- FuSa - Functional Safety
- ASIL - Automotive Safety Integrity Levels
- FIT - Failure in Time