Intelligent Robotic Planning SystemsWorld Scientific, 1993. gada 21. jūl. - 280 lappuses 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. |
Saturs
| 1 | |
CHAPTER 2 WORLD MODELING | 8 |
CHAPTER 3 AN OBJECTORIENTED ROBOT PROGRAMMING LANGUAGE | 25 |
CHAPTER 4 CLASSICAL ROBOTIC TASK PLANNING SYSTEMS | 47 |
CHAPTER 5 CONSTRUCTIVE ROBOT TASK PLANNING | 75 |
CHAPTER 6 ROBOT PATH PLANNING | 109 |
CHAPTER 7 TASK PLANNING FOR COORDINATED MULTIPLE ROBOTS | 155 |
CHAPTER 8 MOTION PLANNING FOR COORDINATED MULTIPLE ROBOTS | 170 |
CHAPTER 9 ROBOT PATH PLANNING IN UNKNOWN ENVIRONMENTS | 205 |
CHAPTER 10 CONCLUSIONS | 250 |
BIBLIOGRAPHY | 253 |
| 262 | |
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2-D projection 5-link closed chain approach assumed blocks world problem boundary boundary representation C-space obstacles C-subspace carried object CFFR channel elements clear(C collision avoidance collision-free path computed configuration space connection graph consumer-producer convex convex hull convex polygons coordinate corresponding cuboid defined described DESCRIPTION GOAL STACK end-effector Example free region free space geometric go to step goal configuration Graham Scan handempty initial configuration intersection joint space line segment M-line method mobile automaton mobile robots motion moving object multiple robots nodes octree ontable(A operations ordering problem partial ordering path planning path planning algorithm permission of IEEE pickup(A planner polygon potential field procedure programming languages quadtree range representation represented Reprinted robot arm robot manipulator Robot Path Planning Robotics and Automation rotational sequence shown in Figure slice projection solid object solved subgoals task planning terrain top stack unknown environment variables velocity vertex vertices visibility graph workspace