Principles of Robot Motion: Theory, Algorithms, and Implementations (Hardcover)

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Principles of Robot Motion: Theory, Algorithms, and Implementations (Hardcover)

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內容描述

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Description:

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.Howie Choset
is Associate Professor in the Robotics Institute at Carnegie Mellon
University.Kevin M. Lynch is Associate Professor in the Mechanical
Engineering Department, Northwestern University.Seth Hutchinson is
Professor in the Department of Electrical and Computer Engineering, University
of Illinois at Urbana-Champaign.George Kantor is Project Scientist in
the Center for the Foundations of Robotics, Robotics Institute, Carnegie
Mellon University.Wolfram Burgard is Associate Professor and Head of
the Autonomous Intelligent Systems Research Lab in the Department of Computer
Science at the University of Freiburg.Lydia E. Kavraki is Professor of
Computer Science and Bioengineering, Rice University.Sebastian Thrun
is Associate Professor in the Computer Science Department at Stanford
University and Director of the Stanford AI Lab.
 
Table of
Contents:

Forward
xv

Preface
xvii

Acknowledgments
xxi

1
Introduction
1

2
Bug
Algorithms
17

3
Configuration Space
39

4
Potential Functions
77

5
Roadmaps
107

6
Cell
Decompositions
161

7
Sampling-Based Algorithms
197

8
Kalman
Filtering
269

9
Bayesian Methods
301

10
Robot
Dynamics
349

11
Trajectory Planning
373

12
Nonholonomic and Underactuated Systems
401

A
Mathematical Notation
473

B
Basic
Set Definitions
475

C
Topology and Metric Spaces
478

D
Curve
Tracing
487

E
Representations of Orientation
489

F
Polyhedral Robots in Polyhedral Worlds
499

G
Analysis of Algorithms and Complexity Classes
513

H
Graph
Representations and Basic Search
521

I
Statistics Primer
547

J
Linear
Systems and Control
552

Bibiolography
565

Index
597

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