Planning Geometry And Complexity Of Robot Motion

Author : Jacob T. Schwartz
Publisher : Intellect Books
ISBN 13 :
Total Pages : 364 pages
Book Rating : 4.81/5 ( download)

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Download or read book Planning, Geometry, and Complexity of Robot Motion written by Jacob T. Schwartz and published by Intellect Books. This book was released on 1987 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Author : John Canny
Publisher : MIT Press
ISBN 13 : 9780262031363
Total Pages : 220 pages
Book Rating : 4.61/5 ( download)

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Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Kamal Gupta
Publisher : Chichester, England ; Toronto : J. Wiley
ISBN 13 :
Total Pages : 376 pages
Book Rating : 4.81/5 ( download)

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Download or read book Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
ISBN 13 : 1461540224
Total Pages : 668 pages
Book Rating : 4.29/5 ( download)

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Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Steven Michael LaValle
Publisher :
ISBN 13 : 9780511241338
Total Pages : 826 pages
Book Rating : 4.3X/5 ( download)

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Download or read book Planning Algorithms written by Steven Michael LaValle and published by . This book was released on 2006 with total page 826 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that integrates literature from several fields into a coherent source for teaching and reference in applications including robotics, computational biology, computer graphics, manufacturing, aerospace applications, and medicine.

Author : Vladimir Trajkovik
Publisher : Springer Science & Business Media
ISBN 13 : 3319014668
Total Pages : 307 pages
Book Rating : 4.61/5 ( download)

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Download or read book ICT Innovations 2013 written by Vladimir Trajkovik and published by Springer Science & Business Media. This book was released on 2013-07-20 with total page 307 pages. Available in PDF, EPUB and Kindle. Book excerpt: Information communication technologies have become the necessity in everyday life enabling increased level of communication, processing and information exchange to extent that one could not imagine only a decade ago. Innovations in these technologies open new fields in areas such as: language processing, biology, medicine, robotics, security, urban planning, networking, governance and many others. The applications of these innovations are used to define services that not only ease, but also increase the quality of life. Good education is essential for establishing solid basis of individual development and performance. ICT is integrated part of education at every level and type. Therefore, the special focus should be given to possible deployment of the novel technologies in order to achieve educational paradigms adapted to possible educational consumer specific and individual needs. This book offers a collection of papers presented at the Fifth International Conference on ICT Innovations held in September 2013, in Ohrid, Macedonia. The conference gathered academics, professionals and practitioners in developing solutions and systems in the industrial and business arena especially innovative commercial implementations, novel applications of technology, and experience in applying recent ICT research advances to practical solutions.

Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 1461531764
Total Pages : 455 pages
Book Rating : 4.60/5 ( download)

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Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

Author : Michael Farber
Publisher : American Mathematical Soc.
ISBN 13 : 0821842463
Total Pages : 202 pages
Book Rating : 4.61/5 ( download)

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Download or read book Topology and Robotics written by Michael Farber and published by American Mathematical Soc.. This book was released on 2007 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ever since the literary works of Capek and Asimov, mankind has been fascinated by the idea of robots. Modern research in robotics reveals that along with many other branches of mathematics, topology has a fundamental role to play in making these grand ideas a reality. This volume summarizes recent progress in the field of topological robotics--a new discipline at the crossroads of topology, engineering and computer science. Currently, topological robotics is developing in two main directions. On one hand, it studies pure topological problems inspired by robotics and engineering. On the other hand, it uses topological ideas, topological language, topological philosophy, and specially developed tools of algebraic topology to solve problems of engineering and computer science. Examples of research in both these directions are given by articles in this volume, which is designed to be a mixture of various interesting topics of pure mathematics and practical engineering.

Author : Jean-Daniel Boissonnat
Publisher : Springer Science & Business Media
ISBN 13 : 9783540516835
Total Pages : 426 pages
Book Rating : 4.32/5 ( download)

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Download or read book Geometry and Robotics written by Jean-Daniel Boissonnat and published by Springer Science & Business Media. This book was released on 1989-10-11 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: The role played by hormones in the development and treatment of malignant tumors has been controversial for nearly 50 years. The present volume concentrates on substantiated data obtained from the study of tumors developing from hormone-related or hormone-producing tissue, for example the thyroid, adrenal glands, prostate, and the female genital tract. Combining expertise from the fields of molecular biology, biochemistry, and histopathology, advances in the management of these tumors are elaborated. The book also provides information on the endonuclear diagnosis of adrenal tumors. Antihormones have proved to be important as they exhibit a destructive effect on prostate carcinomas and breast cancer. In addition, a special chapter discusses the diffuse endocrine cell system (DECS). Bridging the gap between molecular biology and endocrine therapy, the editors present innovative data on many aspects of hormone-related malignant tumors and offer both a survey of present knowledge and a basis for further research.

Author : Angel P. del Pobil
Publisher : Springer Science & Business Media
ISBN 13 : 9783540606208
Total Pages : 260 pages
Book Rating : 4.03/5 ( download)

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Download or read book Spatial Representation and Motion Planning written by Angel P. del Pobil and published by Springer Science & Business Media. This book was released on 1995-11-08 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is devoted to the development of adequate spatial representations for robot motion planning. Drawing upon advanced heuristic techniques from AI and computational geometry, the authors introduce a general model for spatial representation of physical objects. This model is then applied to two key problems in intelligent robotics: collision detection and motion planning. In addition, the application to actual robot arms is kept always in mind, instead of dealing with simplified models. This monograph is built upon Angel del Pobil's PhD thesis which was selected as the winner of the 1992 Award of the Spanish Royal Academy of Doctors.