Robot Motion Planning
DOWNLOAD
Download Robot Motion Planning PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Robot Motion Planning book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
Robot Motion Planning
DOWNLOAD
Author : Jean-Claude Latombe
language : en
Publisher: Springer Science & Business Media
Release Date : 1991
Robot Motion Planning written by Jean-Claude Latombe and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 1991 with Computers categories.
One of the ultimate goals in robotics is the creation of 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 dome rather than how to do it. This book discusses a central problem in the development of autonomous robots. Motion planning, the central theme of this book, can be loosely defined as follows: how can a robot decide what motions to perform in order to achieve as a goal the arrangement 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 own motions.
The Complexity Of Robot Motion Planning
DOWNLOAD
Author : John Canny
language : en
Publisher: MIT Press
Release Date : 1988
The Complexity Of Robot Motion Planning written by John Canny and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Computers categories.
The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
Principles Of Robot Motion
DOWNLOAD
Author : Howie Choset
language : en
Publisher: MIT Press
Release Date : 2005-05-20
Principles Of Robot Motion written by Howie Choset and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-05-20 with Technology & Engineering categories.
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.
Practical Motion Planning In Robotics
DOWNLOAD
Author : Kamal Gupta
language : en
Publisher: Chichester, England ; Toronto : J. Wiley
Release Date : 1998-10-15
Practical Motion Planning In Robotics written by Kamal Gupta and has been published by Chichester, England ; Toronto : J. Wiley this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998-10-15 with Computers categories.
Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
Robot Motion Planning
DOWNLOAD
Author : Jean-Claude Latombe
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Motion Planning written by Jean-Claude Latombe and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Autonomous Mobile Robots And Multi Robot Systems
DOWNLOAD
Author : Eugene Kagan
language : en
Publisher: John Wiley & Sons
Release Date : 2019-09-02
Autonomous Mobile Robots And Multi Robot Systems written by Eugene Kagan and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-09-02 with Technology & Engineering categories.
Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.
Robot Motion Planning And Control
DOWNLOAD
Author : Jean-Paul Laumond
language : en
Publisher: Springer
Release Date : 2014-03-12
Robot Motion Planning And Control written by Jean-Paul Laumond and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-03-12 with Technology & Engineering categories.
How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection.
Sensing Intelligence Motion
DOWNLOAD
Author : Vladimir J. Lumelsky
language : en
Publisher: John Wiley & Sons
Release Date : 2005-11-28
Sensing Intelligence Motion written by Vladimir J. Lumelsky and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-11-28 with Technology & Engineering categories.
A leap forward in the field of robotics Until now, most of the advances in robotics have taken place instructured environments. Scientists and engineers have designedhighly sophisticated robots, but most are still only able tooperate and move in predetermined, planned environments designedspecifically for the robots and typically at very high cost. Thisnew book takes robotics to the next level by setting forth thetheory and techniques needed to achieve robotic motion inunstructured environments. The ability to move and operate in anarbitrary, unplanned environment will lead to automating a widerange of new robotic tasks, such as patient care, toxic sitecleanup, and planetary exploration. The approach that opens the door for robots to handle unstructuredtasks is known as Sensing-Intelligence-Motion (SIM), which drawsfrom research in topology, computational complexity, controltheory, and sensing hardware. Using SIM as an underlyingfoundation, the author's carefully structured presentation isdesigned to: * Formulate the challenges of sensor-based motion planning and thenbuild a theoretical foundation for sensor-based motion planningstrategies * Investigate promising algorithmic strategies for mobile robotsand robot arm manipulators, in both cases addressing motionplanning for the whole robot body * Compare robot performance to human performance in sensor-basedmotion planning to gain better insight into the challenges of SIMand help build synergistic human-robot teams for tele-operationtasks. It is both exciting and encouraging to discover that robotperformance decisively exceeds human performance in certain tasksrequiring spatial reasoning, even when compared to trainedoperators * Review sensing hardware that is necessary to realize the SIMparadigm Some 200 illustrations, graphic sketches, and photos are includedto clarify key issues, develop and validate motion planningapproaches, and demonstrate full systems in operation. As the first book fully devoted to robot motion planning inunstructured environments, Sensing, Intelligence, Motion is amust-read for engineers, scientists, and researchers involved inrobotics. It will help them migrate robots from highly specializedapplications in factories to widespread use in society whereautonomous robot motion is needed.
Mobile Robot Motion Control And Path Planning
DOWNLOAD
Author : Ahmad Taher Azar
language : en
Publisher: Springer Nature
Release Date : 2023-06-30
Mobile Robot Motion Control And Path Planning written by Ahmad Taher Azar and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-06-30 with Technology & Engineering categories.
This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
Robot Motion Planning And Control
DOWNLOAD
Author : John M. Hollerbach
language : en
Publisher:
Release Date : 1984
Robot Motion Planning And Control written by John M. Hollerbach and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1984 with categories.