Principles of robot motion theory, algorithms, and implementation

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...

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Bibliographic Details
Other Authors Choset, Howie M.
Format eBook
LanguageEnglish
Published Cambridge, Mass. : MIT Press, c2005.
SeriesIntelligent robotics and autonomous agents.
Subjects
Robots > Motion.
elektronické knihy
electronic books
Online AccessFull text
ISBN9780262255912
Physical Description1 online zdroj (xix, 603 p.) : ill.

Cover

Table of Contents:
  • Cover
  • Contents
  • Foreword
  • Preface
  • Acknowledgments
  • 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.

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