Screen LibraryIntelligent robotic planning systems /
This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one extends the techniques developed for generic planning problems with robotics-specific considerations so that the task of planning...
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| Main Authors: | |
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| Corporate Authors: | |
| Group Author: | |
| Published: |
World Scientific Pub. Co.,
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| Publisher Address: | Singapore ; River Edge, N.J. : |
| Publication Dates: | 1993. |
| Literature type: | eBook |
| Language: | English |
| Series: |
World Scientific series in robotics and automated systems ;
vol. 3 |
| Subjects: | |
| Online Access: |
http://www.worldscientific.com/worldscibooks/10.1142/1479#t=toc |
| Summary: |
This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one extends the techniques developed for generic planning problems with robotics-specific considerations so that the task of planning can be discussed in a more uniform way. It also includes the latest results in reconfigurable (mobile) robot planning, multiple robot planning, plan recovery, and planning in uncertain environments. This volume is probably the very first book in the market that provides a theoretical foundation for planning techniques and their applications. It also bridges the gap that has been existing for a long time between computer scientists and application engineers. It will be of interest to senior and graduate students in engineering and computer science, AI researchers and professionals. |
| Carrier Form: | 1 online resource (xi,265pages) : illustrations. |
| Bibliography: | Includes bibliographical references (pages 253-261) and index. |
| ISBN: | 9789814360135 (electronic bk.) |
| Index Number: | TJ211 |
| CLC: | TP242 |
| Contents: | ch. 1. Introduction. 1.1. Robotics basics -- 1.2. Robot programming -- 1.3. Robot path planning problem -- 1.4. Coordination of multiple robots -- 1.5. Robotic task planning -- 1.6. Organization of the book -- ch. 2. World modeling. 2.1. Representation of solid objects -- 2.2. Representation of mobile robots and obstacles -- 2.3. Representation of robot manipulators -- ch. 3. An object-oriented robot programming language. 3.1. Robot programming languages -- 3.2. Object-oriented programming -- 3.3. The OSIS query language -- 3.4. Query programming -- 3.5. Solid objects, spaiial relationships, and geometric constraints -- 3.6. Specification of goals and operations -- ch. 4. Classical robotic task planning systems. 4.1. Conjunctive problems -- 4.2. The blocks world problem -- 4.3. Forward planning: GPS -- 4.4. Backward and linear planning: STRIPS -- 4.5. Hierarchical planning: ABSTRIPS -- ch. 5. Constructive robot task planning. 5.1. Nonlinear planning as constraints satisfaction -- 5.2. The consumer ordering problem -- 5.3. The producer ordering problem -- 5.4. Robotic assembly planning -- 5.5. The consumer-producer ordering problem -- 5.6. Solving blocks world as a consumer-producer ordering problem -- ch. 6. Robot path planning. 6.1. Path planning for mobile robots -- 6.2. Path planning for robot manipulators -- 6.3. Collision-free path planning for shape-changeable robots -- ch. 7. Task planning for coordinated multiple robots. 7.1. Planning and plan revision -- 7.2. Nonlinear planning for synchronous actions -- 7.3. Coordination among asynchronous robots -- ch. 8. Motion planning for coordinated multiple robots. 8.1. Loose coordination of multiple robot manipulators -- 8.2. Motion planning for tightly coordinated robot manipulators -- ch. 9. Robot path planning in unknown environments. 9.1. Dynamic path planning for robots with sensors but no memory -- 9.2. Robot navigation in unknown terrains by learning -- ch. 10. Conclusions -- 10.1. Robot task planning -- 10.2. Robot path planning -- 10.3. Multiple robot coordination. |