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Author : Soonkyum Kim
Publisher :
ISBN 13 :
Total Pages : 100 pages
Book Rating : 4.:/5 (871 download)
Download or read book Robot Motion Planning Under Topological Constraints written by Soonkyum Kim and published by . This book was released on 2013 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Reza Hosseiniteshnizi
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (962 download)
Download or read book Motion Planning for a Tethered Mobile Robot written by Reza Hosseiniteshnizi and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently there has been surge of research in motion planning for tethered robots. In this problem a planar robot is connected via a cable of limited length to a fixed point in R2. The configuration space in this problem is more complicated than the one of a classic motion planning problem as existence of the cable causes additional constraints on the motion of the robot. In this thesis we are interested in finding a concise representation of the configuration space that results in a straightforward planning algorithm. To achieve such a representation we observe that configuration space manifold has a discrete structure that conveniently can be separated from its continuous aspect when it is represented as an atlas of charts. We provide a method for generating either the complete atlas or a subset of its charts based on special cable events. Generating parts of the configuration space on-the-fly enables the following improvements over the state-of-the-art. a) We decompose the environment into cells as needed rather than an off-line global discretization, obtaining competitive time and space complexity for our planner. b) We are able to exploit topological structure to represent robot-cable configurations concisely leading us towards solutions to the more complex problems of interest. To underscore the potential of this representation, we take further steps to generalize it to two more complicated instances of the tethered robot planning problem that has been widely disregarded in the literature. We will first consider a simplified model of cable-to-cable contacts, giving the robot the option to perform knot-like tying motions. Next, we will address the planning problem for a tethered robot whose cable has a constraint on its curvature. This adds to the realism of the model since most practical cables have some degree of stiffness which limits curvature. In this case we provide a novel technique to relate Dubins' theory of curves with work on planning with topological constraints. Our results show the efficiency of the method and indicate further promise for procedures that represent manifolds via an amalgamation of implicit discrete topological structure and explicit Euclidean cells. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/155694
Author : Jean-Claude Latombe
Publisher : Springer Science & Business Media
ISBN 13 : 1461540224
Total Pages : 668 pages
Book Rating : 4.4/5 (615 download)
Download or read book Robot Motion Planning written by Jean-Claude Latombe and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Michael Farber
Publisher : American Mathematical Soc.
ISBN 13 : 0821842463
Total Pages : 202 pages
Book Rating : 4.8/5 (218 download)
Download or read book Topology and Robotics written by Michael Farber and published by American Mathematical Soc.. This book was released on 2007 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 M. LaValle
Publisher : Cambridge University Press
ISBN 13 : 9780521862059
Total Pages : 844 pages
Book Rating : 4.8/5 (62 download)
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Xj Jing
Publisher : BoD – Books on Demand
ISBN 13 : 953761901X
Total Pages : 610 pages
Book Rating : 4.5/5 (376 download)
Download or read book Motion Planning written by Xj Jing and published by BoD – Books on Demand. This book was released on 2008-06-01 with total page 610 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, new results or developments from different research backgrounds and application fields are put together to provide a wide and useful viewpoint on these headed research problems mentioned above, focused on the motion planning problem of mobile ro-bots. These results cover a large range of the problems that are frequently encountered in the motion planning of mobile robots both in theoretical methods and practical applications including obstacle avoidance methods, navigation and localization techniques, environmental modelling or map building methods, and vision signal processing etc. Different methods such as potential fields, reactive behaviours, neural-fuzzy based methods, motion control methods and so on are studied. Through this book and its references, the reader will definitely be able to get a thorough overview on the current research results for this specific topic in robotics. The book is intended for the readers who are interested and active in the field of robotics and especially for those who want to study and develop their own methods in motion/path planning or control for an intelligent robotic system.
Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 1461531764
Total Pages : 455 pages
Book Rating : 4.4/5 (615 download)
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 : Herry Sutanto
Publisher :
ISBN 13 :
Total Pages : 436 pages
Book Rating : 4.:/5 (31 download)
Download or read book Robot Motion Planning with Visual Constraints written by Herry Sutanto and published by . This book was released on 1997 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kristoffer Bergman
Publisher : Linköping University Electronic Press
ISBN 13 : 9176850579
Total Pages : 91 pages
Book Rating : 4.1/5 (768 download)
Download or read book On Motion Planning Using Numerical Optimal Control written by Kristoffer Bergman and published by Linköping University Electronic Press. This book was released on 2019-05-28 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combining ideas from automatic control, numerical optimization and robotics. First, a systematic approach for computing local solutions to motion planning problems in challenging environments is presented. The solutions are computed by combining homotopy methods and numerical optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms both a state-of-the-art numerical optimal control method based on standard initialization strategies and a state-of-the-art optimizing sampling-based planner based on random sampling. Second, a framework for automatically generating motion primitives for lattice-based motion planners is proposed. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the algorithm not only automatically optimizes the motions connecting pre-defined boundary conditions, but also simultaneously optimizes the terminal state constraints as well. In addition to handling static a priori known system parameters such as platform dimensions, the framework also allows for fast automatic re-optimization of motion primitives if the system parameters change while the system is in use. Furthermore, the proposed framework is extended to also allow for an optimization of discretization parameters, that are are used by the lattice-based motion planner to define a state-space discretization. This enables an optimized selection of these parameters for a specific system instance. Finally, a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems is presented. The main idea is to combine the strengths of sampling-based path planners and numerical optimal control. The lattice-based path planner is applied to the problem in a first step using a discretized search space, where system dynamics and objective function are chosen to coincide with those used in a second numerical optimal control step. This novel tight combination of a sampling-based path planner and numerical optimal control makes, in a structured way, benefit of the former method’s ability to solve combinatorial parts of the problem and the latter method’s ability to obtain locally optimal solutions not constrained to a discretized search space. The proposed approach is shown in several practically relevant path planning problems to provide improvements in terms of computation time, numerical reliability, and objective function value.
Author : Roger Allan Pearce
Publisher :
ISBN 13 :
Total Pages : 74 pages
Book Rating : 4.:/5 (528 download)
Download or read book Optimal Motion Planning with Constraints for Mobile Robot Navigation written by Roger Allan Pearce and published by . This book was released on 2003 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jean-Paul Laumond
Publisher : Springer
ISBN 13 : 9783662167908
Total Pages : 347 pages
Book Rating : 4.1/5 (679 download)
Download or read book Robot Motion Planning and Control written by Jean-Paul Laumond and published by Springer. This book was released on 2014-03-12 with total page 347 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (638 download)
Download or read book Topological robotics: motion planning in projective spaces written by Michael Farber and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Paul Eric Jacobs
Publisher :
ISBN 13 :
Total Pages : 300 pages
Book Rating : 4.:/5 (7 download)
Download or read book Planning Robot Motion with Dynamic Constraints written by Paul Eric Jacobs and published by . This book was released on 1989 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Nak-Young Chong
Publisher : Springer
ISBN 13 : 4431558799
Total Pages : 475 pages
Book Rating : 4.4/5 (315 download)
Download or read book Distributed Autonomous Robotic Systems written by Nak-Young Chong and published by Springer. This book was released on 2016-01-14 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems.
Author : Kamal Gupta
Publisher : Chichester, England ; Toronto : J. Wiley
ISBN 13 :
Total Pages : 376 pages
Book Rating : 4.F/5 ( download)
Download or read book Practical Motion Planning in Robotics written by Kamal Gupta and published by Chichester, England ; Toronto : J. Wiley. This book was released on 1998-10-15 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
Author : Jan Mazal
Publisher : Springer
ISBN 13 : 3319760726
Total Pages : 463 pages
Book Rating : 4.3/5 (197 download)
Download or read book Modelling and Simulation for Autonomous Systems written by Jan Mazal and published by Springer. This book was released on 2018-03-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the 4th International Workshop on Modelling and Simulation for Autonomous Systems, MESAS 2017, held in Rome, Italy, , in October 2017. The 33 revised full papers included in the volume were carefully reviewed and selected from 38 submissions. They are organized in the following topical sections: M&S of Intelligent Systems – AI, R&D and Applications; Autonomous Systems in Context of Future Warfare and Security – Concepts, Applications, Standards and Legislation; Future Challenges and Opportunities of Advanced M&S Technology.
Author : Petereit, Janko
Publisher : KIT Scientific Publishing
ISBN 13 : 3731505800
Total Pages : 282 pages
Book Rating : 4.7/5 (315 download)
Download or read book Adaptive State × Time Lattices: A Contribution to Mobile Robot Motion Planning in Unstructured Dynamic Environments written by Petereit, Janko and published by KIT Scientific Publishing. This book was released on 2017-01-20 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.
