Motion Planning In Dynamic Environments
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| Author | : Kikuo Fujimura |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 190 |
| Release | : 2012-12-06 |
| Genre | : Computers |
| ISBN | : 4431681655 |
Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
| Author | : Nancy M. Amato |
| Publisher | : Springer Nature |
| Total Pages | : 1058 |
| Release | : 2019-11-28 |
| Genre | : Technology & Engineering |
| ISBN | : 3030286193 |
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
| Author | : Alexander Zelinsky |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 558 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1447112733 |
Joe Engelberger, the pioneer of the robotics industry, wrote in his 1989 book Robotics in Service that the inspiration to write his book came as a reaction to an industry-sponsored forecast study of robot applications, which predicted that in 1995 applications of robotics outside factories - the traditional domain of industrial robots - would amount to less than 1% of total sales. Engelberger believed that this forecast was very wrong, and instead predicted that the non-industrial class of robot applications would become the largest class. Engelbergers prediction has yet to come to pass. However, he did correctly foresee the growth in non-traditional applications of robots. Robots are now beginning to march from the factories and into field and service applications. This book presents a selection of papers from the first major international conference dedicated to field and service applications of robotics. This selection includes papers from the leading research laboratories in the world together with papers from companies that are building and selling new and innovative robotic technology. It describes interesting aspects of robots in the field ranging from mining, agriculture, construction, cargo handling, subsea operations, removal of landmines, to terrestrial exploration. It also covers a diverse range of service applications, such as cleaning, propagating plants and aiding the elderly and handicapped, and gives considerable attention to the technology required to realise robust, reliable and safe robots.
| Author | : Steven M. LaValle |
| Publisher | : Cambridge University Press |
| Total Pages | : 844 |
| Release | : 2006-05-29 |
| Genre | : Computers |
| ISBN | : 9780521862059 |
Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
| Author | : Jadran Lenarčič |
| Publisher | : Springer |
| Total Pages | : 536 |
| Release | : 2014-05-19 |
| Genre | : Technology & Engineering |
| ISBN | : 3319066986 |
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
| Author | : John Canny |
| Publisher | : MIT Press |
| Total Pages | : 220 |
| Release | : 1988 |
| Genre | : Computers |
| ISBN | : 9780262031363 |
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.
| Author | : Kensuke Harada |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 320 |
| Release | : 2010-08-12 |
| Genre | : Technology & Engineering |
| ISBN | : 1849962200 |
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
| Author | : Jean-Claude Latombe |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 668 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461540224 |
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.
| Author | : Eugene Kagan |
| Publisher | : John Wiley & Sons |
| Total Pages | : 340 |
| Release | : 2019-12-16 |
| Genre | : Technology & Engineering |
| ISBN | : 1119212863 |
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.
| Author | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
