Principles of robot motion : theory, algorithms, and implementation / Howie Choset [and others]
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...
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| Other Authors: | |
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| Format: | Book |
| Language: | English |
| Published: |
Cambridge, Mass. :
MIT Press,
©2005.
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| Series: | Intelligent robotics and autonomous agents.
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| Subjects: |
Table of Contents:
- 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
- Appendixes : A. Mathematical notations ; 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 ; J. Linear systems and control.