Spatial Representation and Motion Planning PDF Download

Author: Angel P. del Pobil
Publisher: Springer Science & Business Media
ISBN: 9783540606208
Category : Technology & Engineering
Languages : en
Pages : 260

View

Book Description
This book is devoted to the development of adequate spatial representations for robot motion planning. Drawing upon advanced heuristic techniques from AI and computational geometry, the authors introduce a general model for spatial representation of physical objects. This model is then applied to two key problems in intelligent robotics: collision detection and motion planning. In addition, the application to actual robot arms is kept always in mind, instead of dealing with simplified models. This monograph is built upon Angel del Pobil's PhD thesis which was selected as the winner of the 1992 Award of the Spanish Royal Academy of Doctors.

Author:
Publisher:
ISBN: 9780387606200
Category : Intelligent control systems
Languages : en
Pages : 0

View

Book Description

Author: Jiming Liu
Publisher: Springer Science & Business Media
ISBN: 3642188796
Category : Computers
Languages : en
Pages : 180

View

Book Description
Spatial reasoning and planning is a core constituent in robotics, graphics, computer-aided design, and geographic information systems. After a review of previous work in the related areas, Liu and Daneshmend present a unified framework for qualitative spatial representation and reasoning. This paves the way for a generation of solutions to spatial problems where the geometric knowledge is imprecise. Many graphical illustrations and detailed algorithm descriptions help the reader to comprehend the solution paths and to develop their own applications. The book is written as a self-contained text for researchers and graduate students. The methodologies, algorithmic details, and case studies presented can be used as course material as well as a convenient reference.

Author: Xj Jing
Publisher: BoD – Books on Demand
ISBN: 953761901X
Category : Technology & Engineering
Languages : en
Pages : 610

View

Book Description
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: Jean-Paul Laumond
Publisher: CRC Press
ISBN: 1439864527
Category : Computers
Languages : en
Pages : 480

View

Book Description
This volume deals with core problems in robotics, like motion planning, sensor-based planning, manipulation, and assembly planning. It also discusses the application of robotics algorithms in other domains, such as molecular modeling, computer graphics, and image analysis. Topics Include: - Planning - Sensor Based Motion Planning - Control and Moti

Author: O. Stock
Publisher: Springer Science & Business Media
ISBN: 0585283222
Category : Language Arts & Disciplines
Languages : en
Pages : 394

View

Book Description
Qualitative reasoning about space and time - a reasoning at the human level - promises to become a fundamental aspect of future systems that will accompany us in daily activity. The aim of Spatial and Temporal Reasoning is to give a picture of current research in this area focusing on both representational and computational issues. The picture emphasizes some major lines of development in this multifaceted, constantly growing area. The material in the book also shows some common ground and a novel combination of spatial and temporal aspects of qualitative reasoning. Part I presents the overall scene. The chapter by Laure Vieu is on the state of the art in spatial representation and reasoning, and that by Alfonso Gerevini gives a similar survey on research in temporal reasoning. The specific contributions to these areas are then grouped in the two main parts. In Part II, Roberto Casati and Achille Varzi examine the ontological status of spatial entities; Anthony Cohn, Brandon Bennett, John Gooday, and Nicholas Gotts present a detailed theory of reasoning with qualitative relations about regions; Andrew Frank discusses the spatial needs of geographical information systems; and Annette Herskovits focuses on the linguistic expression of spatial relations. In Part III, James Allen and George Ferguson describe an interval temporal logic for the representation of actions and events; Drew McDermott presents an efficient way of predicting the outcome of plan execution; and Erik Sandewall introduces a semantics based on transitions for assessing theories of action and change. In Part IV, Antony Galton's chapter stands clearly between the two areas of space and time and outlines the main coordinates of an integrated approach.

Author: Kensuke Harada
Publisher: Springer Science & Business Media
ISBN: 1849962200
Category : Technology & Engineering
Languages : en
Pages : 320

View

Book Description
Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.

Author: Junku Yuh
Publisher: Springer Science & Business Media
ISBN: 1461314194
Category : Computers
Languages : en
Pages : 251

View

Book Description
All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.

Author: Ling Zhang
Publisher: Newnes
ISBN: 0124104436
Category : Computers
Languages : en
Pages : 397

View

Book Description
Quotient Space Based Problem Solving provides an in-depth treatment of hierarchical problem solving, computational complexity, and the principles and applications of multi-granular computing, including inference, information fusing, planning, and heuristic search. Explains the theory of hierarchical problem solving, its computational complexity, and discusses the principle and applications of multi-granular computing Describes a human-like, theoretical framework using quotient space theory, that will be of interest to researchers in artificial intelligence Provides many applications and examples in the engineering and computer science area Includes complete coverage of planning, heuristic search and coverage of strictly mathematical models

Author: T. Takamori
Publisher: Elsevier
ISBN: 0444600299
Category : Technology & Engineering
Languages : en
Pages : 977

View

Book Description
One of the most important problems in the field of engineering and technology is the development of so-called intelligent systems, which can perform various intellectual tasks. This book is dedicated to the current progress of research in this vast field and specifically explores the topics of robotics, mechatronics and manufacturing systems.