Nonholonomic Motion Planning PDF Download
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| Author | : Zexiang Li |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 455 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461531764 |
Download Nonholonomic Motion Planning Book in PDF, ePub and Kindle
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 | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
| Author | : Frédéric Jean |
| Publisher | : Springer |
| Total Pages | : 112 |
| Release | : 2014-07-17 |
| Genre | : Science |
| ISBN | : 3319086901 |
Download Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning Book in PDF, ePub and Kindle
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
| Author | : Jean-Paul Laumond |
| Publisher | : Springer |
| Total Pages | : 347 |
| Release | : 2014-03-12 |
| Genre | : Technology & Engineering |
| ISBN | : 9783662167908 |
Download Robot Motion Planning and Control Book in PDF, ePub and Kindle
How can a robot decide what motions to perform in order to achieve tasks in the physical world? Robot motion planning encompasses several different disciplines, most notably robotics, computer science, control theory and mathematics. This volume presents an interdisciplinary account of recent developments in the field. Topics covered include: combining geometric algorithms and control techniques to account for the nonholonomic constraints of most mobile robots; the mathematical machinery necessary for understanding nonholonomic systems; applying optimal techniques to compute optimal paths; feedback control for nonholonomic mobile robots; probabilistic algorithms and new motion planning approaches; and a survey of recent techniques for dealing with collision detection.
| Author | : Steven M. LaValle |
| Publisher | : Cambridge University Press |
| Total Pages | : 844 |
| Release | : 2006-05-29 |
| Genre | : Computers |
| ISBN | : 9780521862059 |
Download Planning Algorithms Book in PDF, ePub and Kindle
Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
| Author | : John Baillieul |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 382 |
| Release | : 2012-12-06 |
| Genre | : Mathematics |
| ISBN | : 1461217105 |
Download Essays on Mathematical Robotics Book in PDF, ePub and Kindle
The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.
| Author | : Ron Alterovitz |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 164 |
| Release | : 2008-07-23 |
| Genre | : Technology & Engineering |
| ISBN | : 3540692576 |
Download Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures Book in PDF, ePub and Kindle
Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.
| Author | : Bruno Siciliano |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 644 |
| Release | : 2010-08-20 |
| Genre | : Technology & Engineering |
| ISBN | : 1846286417 |
Download Robotics Book in PDF, ePub and Kindle
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
| Author | : P. Ferbach |
| Publisher | : |
| Total Pages | : 12 |
| Release | : 1996 |
| Genre | : |
| ISBN | : |
Download Method of Progressive Constraints for Nonholonomic Motion Planning Book in PDF, ePub and Kindle
| Author | : J. Angeles |
| Publisher | : Springer |
| Total Pages | : 344 |
| Release | : 2014-05-04 |
| Genre | : Technology & Engineering |
| ISBN | : 3709143624 |
Download Kinematics and Dynamics of Multi-Body Systems Book in PDF, ePub and Kindle
Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.
