Principles of Robot Motion: Theory, Algorithms, and Implementations (Hardcover)

Howie Choset, Kevin M. Lynch, Seth Hutchinson, George A. Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun

Principles of Robot Motion: Theory, Algorithms, and Implementations (Hardcover)
  • 出版商: MIT
  • 出版日期: 2005-03-01
  • 售價: $1,450
  • 貴賓價: 9.8 折 $1,421
  • 語言: 英文
  • 頁數: 626
  • 裝訂: Hardcover
  • ISBN: 0262033275
  • ISBN-13: 9780262033275
  • 相關分類: 機器人製作 Robots、Algorithms-data-structures

    • 立即出貨 (庫存=1)

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商品描述

Description:

Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic 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, rleating low-level implementation details to high-level algorithmic concepts.

Howie Choset is Associate Professor in the Robotics Institute at Carnegie Mellon University.

Kevin M. Lynch is Associate Professor in the Mechanical Engineering Department, Northwestern University.

Seth Hutchinson is Professor in the Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign.

George Kantor is Project Scientist in the Center for the Foundations of Robotics, Robotics Institute, Carnegie Mellon University.

Wolfram Burgard is Associate Professor and Head of the Autonomous Intelligent Systems Research Lab in the Department of Computer Science at the University of Freiburg.

Lydia E. Kavraki is Professor of Computer Science and Bioengineering, Rice University.

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

 

Table of Contents:

Forward xv
Preface xvii
Acknowledgments xxi
1 Introduction 1
2 Bug Algorithms 17
3 Configuration Space 39
4 Potential Functions 77
5 Roadmaps 107
6 Cell Decompositions 161
7 Sampling-Based Algorithms 197
8 Kalman Filtering 269
9 Bayesian Methods 301
10 Robot Dynamics 349
11 Trajectory Planning 373
12 Nonholonomic and Underactuated Systems 401
A Mathematical Notation 473
B Basic Set Definitions 475
C Topology and Metric Spaces 478
D Curve Tracing 487
E Representations of Orientation 489
F Polyhedral Robots in Polyhedral Worlds 499
G Analysis of Algorithms and Complexity Classes 513
H Graph Representations and Basic Search 521
I Statistics Primer 547
J Linear Systems and Control 552
Bibiolography 565
Index 597

 

 

 

商品描述(中文翻譯)

描述：
機器人運動規劃已成為機器人學的主要焦點。研究成果不僅可以應用於機器人學，還可以應用於電路板上的路線規劃、電腦圖形中的數位角色指導、機器人輔助手術和醫學，以及藥物設計和蛋白質折疊等新領域。本書反映了過去十年來取得的巨大進展，包括基於感測器的規劃、概率規劃、定位和地圖繪製，以及動態和非完整系統的運動規劃。它的呈現方式使得機器人運動的數學基礎對計算機科學和工程學的學生易於理解，將低層次的實現細節與高層次的算法概念相關聯。

目錄：
前言
序言
致謝
第1章：介紹
第2章：Bug算法

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