Intelligent Robotic Planning Systems
This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one extends the techniques developed for generic planning problems with robotics-specific considerations so that the task of planning can be discussed in a more uniform way. It also includes the latest results in reconfigurable (mobile) robot planning, multiple robot planning, plan recovery, and planning in uncertain environments. This volume is probably the very first book in the market that provides a theoretical foundation for planning techniques and their applications. It also bridges the gap that has been existing for a long time between computer scientists and application engineers. It will be of interest to senior and graduate students in engineering and computer science, AI researchers and professionals.
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AN OBJECTORIENTED ROBOT PROGRAMMING
CLASSICAL ROBOTIC TASK PLANNING SYSTEMS
CONSTRUCTIVE ROBOT TASK PLANNING
ROBOT PATH PLANNING
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algorithm applied approach assumed avoid blocks world boundary C-space C-subspace called changed channel Chapter circle clear(C closed chain collision collision-free path completely computed configuration connected considered constraints convex coordinate corner corresponding curve defined described DESCRIPTION determined developed direction discussed end-effector environment Example executed exists feasible Figure final fixed function geometric given goal graph handempty IEEE initial intersection joint languages length mapped method mobile robots motion moving multiple nodes object obstacle obtained ontable(A operations orientation partial pass path planning performed permission planner polygon position possible potential problem procedure producer programming projection range region representation represented Reprinted respectively robot manipulator sequence shown in Figure solid solution solved space specified stack step task terrain trajectory variables vertex vertices workspace