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Principles Of Robot Motion: Theory, Algorithms, And Implementations
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ISBN
:
9788120328846
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Publisher
:
Phi Learning Pvt. Ltd.
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Subject
:
Technology: General Issues
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Binding
:
Paperback
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Pages
:
628
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Year
:
2007
₹
425.0
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₹
335.0
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Description
This book by distinguished researchers in Robotics reveals the great advances that have taken place in the last ten years in robot motion planning 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. It is aimed at advanced undergraduate or new graduate students interested in robot motion. Table Of Contents Foreword. Preface. Acknowledgements. 1. Introduction. 2. Bug Algorithms. 3. Configuration Space. 4. Potential Functions. 5. Roadmaps. 6. Cell Decompositions. 7. Sampling-Based Algorithms. 8. Kalman Filtering. 9. Bayesian Methods. 10. Robot Dynamics. 11. Trajectory Planning. 12. Nonholonomic and Underactuated Systems. A. Mathematical Notation. B. Basic Set Definitions. C. Topology and Metric Spaces. D. Curve Tracing. E. Representations of Orientation. F. Polyhedral Robots in Polyhedral Worlds. G. Analysis of Algorithms and Complexity Classes. H. Graph Representation and Basic Search. I. Statistics Primer. I. Linear Systems and Control. Glossary. Bibliography. Index.
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