Principles of Robot Motion

Theory, Algorithms, and Implementations

Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun - Collection Intelligent Robotics and Autonomous Agents

610 pages, parution le 07/07/2005

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Résumé

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 motion accessible to students of computer science and engineering, relating low-level implementation details to high-level algorithmic concepts.

L'auteur - Howie Choset

Howie Choset is Associate Professor in the Robotics Institute at Carnegie Mellon University.

L'auteur - Kevin Lynch

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L'auteur - Seth Hutchinson

Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.

L'auteur - George Kantor

George Kantor is Project Scientist in the Center for the Foundations of Robotics, Robotics Institute, Carnegie Mellon University.

L'auteur - Wolfram Burgard

Wolfram Burgard is Associate Professor and Head of the Autonomous Intelligent Systems Research Lab in the Department of Computer Science at the University of Freiburg.

L'auteur - Lydia E. Kavraki

Lydia E. Kavraki is Professor of Computer Science and Bioengineering, Rice University.

L'auteur - Sebastian Thrun

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

Sommaire

Introduction
Bug Algorithms
Configuration Space
Potential Functions
Roadmaps
Cell Decompositions
Sampling-Based Algorithms
Kalman Filtering
Bayesian Methods
Robot Dynamics
Trajectory Planning
Nonholonomic and Underactuated Systems
Mathematical Notation
Basic Set Definitions
Topology and Metric Spaces
Curve Tracing
Representations of Orientation
Polyhedral Robots in Polyhedral Worlds
Analysis of Algorithms and Complexity Classes
Graph Representations and Basic Search
Statistics Primer
Linear Systems and Control

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Caractéristiques techniques

	PAPIER
Éditeur(s)	The MIT Press
Auteur(s)	Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun
Collection	Intelligent Robotics and Autonomous Agents
Parution	07/07/2005
Nb. de pages	610
Format	21 x 23,5
Couverture	Relié
Poids	1330g
Intérieur	Noir et Blanc
EAN13	9780262033275
ISBN13	978-0-262-03327-5