Robot Motion Planning: Edition en anglais

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Springer Science & Business Media, 1991 - 651 páginas
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One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
 

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Índice

Introduction and Overview
1
Configuration Space of a Rigid Object
58
Obstacles in Configuration Space
105
Roadmap Methods
153
Exact Cell Decomposition
200
Approximate Cell Decomposition
248
Potential Field Methods
295
Multiple Moving Objects
356
Movable Objects
533
Prospects
587
Basic Mathematics
590
Computational Complexity
599
Graph Searching
603
SweepLine Algorithm
609
References
615
Index
643

Kinematic Constraints
403
Dealing with Uncertainty
452

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Página 641 - Force Feedback Control of Manipulator Fine Motions," ASME Journal of Dynamic Systems, Measurement, and Control, June 1977, pp.
Página 615 - A geometrical approach to planning manipulation tasks — the case of discrete placements and grasps.
Página 633 - DV 1992. Robot Planning. AI Magazine, AAAI Press, 13(2):55-79. [36] Mishra, B., Schwartz, JT, and Sharir, M. 1987. On the Existence and Synthesis of Multifinger Positive Grips. Algorithmica, 2:541-558. [37] Natarajan, BK 1988. On Planning...

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