The Complexity Of Robot Motion Planning PDF Download
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| Author | : John Canny |
| Publisher | : MIT Press |
| Total Pages | : 220 |
| Release | : 1988 |
| Genre | : Computers |
| ISBN | : 9780262031363 |
Download The Complexity of Robot Motion Planning Book in PDF, ePub and Kindle
The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
| Author | : Jacob T. Schwartz |
| Publisher | : Intellect Books |
| Total Pages | : 364 |
| Release | : 1987 |
| Genre | : Science |
| ISBN | : |
Download Planning, Geometry, and Complexity of Robot Motion Book in PDF, ePub and Kindle
Robotics has come to attract the attention of mathematicians and theoretical computer scientists to a rapidly increasing degree. Initial investigations have shown that robotics is a rich source of deep theoretical problems, which range over computational geometry, control theory, and many aspects of physics, and whose solutions draw upon methods developed in subjects as diverse as automata theory, algebraic topology, and Fourier analysis.
| 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 | : Jean-Claude Latombe |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 668 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1461540224 |
Download Robot Motion Planning Book in PDF, ePub and Kindle
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
| 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 | : Michael Farber |
| Publisher | : American Mathematical Soc. |
| Total Pages | : 202 |
| Release | : 2007 |
| Genre | : Mathematics |
| ISBN | : 0821842463 |
Download Topology and Robotics Book in PDF, ePub and Kindle
Ever since the literary works of Capek and Asimov, mankind has been fascinated by the idea of robots. Modern research in robotics reveals that along with many other branches of mathematics, topology has a fundamental role to play in making these grand ideas a reality. This volume summarizes recent progress in the field of topological robotics--a new discipline at the crossroads of topology, engineering and computer science. Currently, topological robotics is developing in two main directions. On one hand, it studies pure topological problems inspired by robotics and engineering. On the other hand, it uses topological ideas, topological language, topological philosophy, and specially developed tools of algebraic topology to solve problems of engineering and computer science. Examples of research in both these directions are given by articles in this volume, which is designed to be a mixture of various interesting topics of pure mathematics and practical engineering.
| Author | : Steven Michael LaValle |
| Publisher | : |
| Total Pages | : 826 |
| Release | : 2006 |
| Genre | : Algorithms |
| ISBN | : 9780511241338 |
Download Planning Algorithms Book in PDF, ePub and Kindle
Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that integrates literature from several fields into a coherent source for teaching and reference in applications including robotics, computational biology, computer graphics, manufacturing, aerospace applications, and medicine.
| Author | : Vladimir Trajkovik |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 307 |
| Release | : 2013-07-20 |
| Genre | : Technology & Engineering |
| ISBN | : 3319014668 |
Download ICT Innovations 2013 Book in PDF, ePub and Kindle
Information communication technologies have become the necessity in everyday life enabling increased level of communication, processing and information exchange to extent that one could not imagine only a decade ago. Innovations in these technologies open new fields in areas such as: language processing, biology, medicine, robotics, security, urban planning, networking, governance and many others. The applications of these innovations are used to define services that not only ease, but also increase the quality of life. Good education is essential for establishing solid basis of individual development and performance. ICT is integrated part of education at every level and type. Therefore, the special focus should be given to possible deployment of the novel technologies in order to achieve educational paradigms adapted to possible educational consumer specific and individual needs. This book offers a collection of papers presented at the Fifth International Conference on ICT Innovations held in September 2013, in Ohrid, Macedonia. The conference gathered academics, professionals and practitioners in developing solutions and systems in the industrial and business arena especially innovative commercial implementations, novel applications of technology, and experience in applying recent ICT research advances to practical solutions.
| Author | : Howie Choset |
| Publisher | : MIT Press |
| Total Pages | : 642 |
| Release | : 2005-05-20 |
| Genre | : Technology & Engineering |
| ISBN | : 9780262033275 |
Download Principles of Robot Motion Book in PDF, ePub and Kindle
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. 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.
| Author | : Pedro Neto |
| Publisher | : Springer |
| Total Pages | : 235 |
| Release | : 2013-06-12 |
| Genre | : Computers |
| ISBN | : 3642392237 |
Download Robotics in Smart Manufacturing Book in PDF, ePub and Kindle
This book constitutes the refereed proceedings of the International Workshop on Robotics in Smart Manufacturing, WRSM 2013, held in Porto, Portugal, in June 2013. The 20 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers address issues such as robotic machining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent warehouses, robot co-workers and application of robots in the textile industry.
