The Complexity Of Robot Motion Planning
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The Complexity Of Robot Motion Planning
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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.
Planning Geometry And Complexity Of Robot Motion
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Author : Jacob T. Schwartz
language : en
Publisher: Intellect Books
Release Date : 1987
Planning Geometry And Complexity Of Robot Motion written by Jacob T. Schwartz and has been published by Intellect Books this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987 with Science categories.
Robotics has come to attract the attention of mathematicians and theoretical computer scientists to a rapidly increasing degree. Initial investigations have shown that robotics is a rich source of deep theoretical problems, which range over computational geometry, control theory, and many aspects of physics, and whose solutions draw upon methods developed in subjects as diverse as automata theory, algebraic topology, and Fourier analysis.
Practical Motion Planning In Robotics
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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
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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.
Modern Robotics
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Author : Kevin M. Lynch
language : en
Publisher: Cambridge University Press
Release Date : 2017-05-25
Modern Robotics written by Kevin M. Lynch and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-05-25 with Computers categories.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Mobile Robot Motion Control And Path Planning
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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
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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.
Principles Of Robot Motion
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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.
Invitation To Topological Robotics
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Author : Michael Farber
language : en
Publisher: European Mathematical Society
Release Date : 2008
Invitation To Topological Robotics written by Michael Farber and has been published by European Mathematical Society this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Mathematics categories.
This book discusses several selected topics of a new emerging area of research on the interface between topology and engineering. The first main topic is topology of configuration spaces of mechanical linkages. These manifolds arise in various fields of mathematics and in other sciences, e.g., engineering, statistics, molecular biology. To compute Betti numbers of these configuration spaces the author applies a new technique of Morse theory in the presence of an involution. A significant result of topology of linkages presented in this book is a solution of a conjecture of Kevin Walker which states that the relative sizes of bars of a linkage are determined, up to certain equivalence, by the cohomology algebra of the linkage configuration space. This book also describes a new probabilistic approach to topology of linkages which treats the bar lengths as random variables and studies mathematical expectations of Betti numbers. The second main topic is topology of configuration spaces associated to polyhedra. The author gives an account of a beautiful work of S. R. Gal, suggesting an explicit formula for the generating function encoding Euler characteristics of these spaces. Next the author studies the knot theory of a robot arm, focusing on a recent important result of R. Connelly, E. Demain, and G. Rote. Finally, he investigates topological problems arising in the theory of robot motion planning algorithms and studies the homotopy invariant TC(X) measuring navigational complexity of configuration spaces. This book is intended as an appetizer and will introduce the reader to many fascinating topological problems motivated by engineering.
Robot Path Planning And Cooperation
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Author : Anis Koubaa
language : en
Publisher: Springer
Release Date : 2018-04-05
Robot Path Planning And Cooperation written by Anis Koubaa and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-05 with Technology & Engineering categories.
This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.