000			01494nam a22001697a 4500
005			20220921095511.0
008			220921b |||||||| |||| 00| 0 eng d
020			_a9780262033275
082			_a629.892 _bCHO
100			_a Choset, Howie M
245			_aPrinciples of robot motion : _btheory, algorithms, and implementation
260			_aCambridge, Mass., _bMIT Press, _c ©2005
300			_a603P
505			_a1 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
520			_aThis 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
942			_2ddc _cBK
999			_c1832 _d1832