Principles of robot motion : theory, algorithms, and implementation
Choset, Howie M
Principles of robot motion : theory, algorithms, and implementation - Cambridge, Mass., MIT Press, ©2005 - 603P
1 Introduction
2 Bug Algorithms
3 Configuration Space
4 Potential Functions
5 Roadmaps
6 Cell Decompositions
7 Sampling-Based Algorithms
8 Kalman Filtering
9 Bayesian Methods
10 Robot Dynamics
11 Trajectory Planning
12 Nonholonomic and Underactuated Systems
A Mathematical Notation
B Basic Set Definitions
C Topology and Metric Spaces
D Curve Tracing
E Representations of Orientation
F Polyhedral Robots in Polyhedral Worlds
G Analysis of Algorithms and Complexity Classes
H Graph Representation and Basic Search
I Statistics Primer
J Linear Systems and Control
Bibliography
Index
This text reflects the great advances in the field that have taken place in the last ten years, including sensor-based planning, probabilistic 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, relating low-level implementation details to high-level algorithmic concepts
9780262033275
629.892 / CHO
Principles of robot motion : theory, algorithms, and implementation - Cambridge, Mass., MIT Press, ©2005 - 603P
1 Introduction
2 Bug Algorithms
3 Configuration Space
4 Potential Functions
5 Roadmaps
6 Cell Decompositions
7 Sampling-Based Algorithms
8 Kalman Filtering
9 Bayesian Methods
10 Robot Dynamics
11 Trajectory Planning
12 Nonholonomic and Underactuated Systems
A Mathematical Notation
B Basic Set Definitions
C Topology and Metric Spaces
D Curve Tracing
E Representations of Orientation
F Polyhedral Robots in Polyhedral Worlds
G Analysis of Algorithms and Complexity Classes
H Graph Representation and Basic Search
I Statistics Primer
J Linear Systems and Control
Bibliography
Index
This text reflects the great advances in the field that have taken place in the last ten years, including sensor-based planning, probabilistic 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, relating low-level implementation details to high-level algorithmic concepts
9780262033275
629.892 / CHO