Nonholonomic Motion Planning in the Presence of Obstacles
Author : Adam Wayne Divelbiss
Publisher :
Page : 166 pages
File Size : 16,5 MB
Release : 1993
Category :
ISBN :
Author : Adam Wayne Divelbiss
Publisher :
Page : 166 pages
File Size : 16,5 MB
Release : 1993
Category :
ISBN :
Author : Zexiang Li
Publisher : Springer Science & Business Media
Page : 455 pages
File Size : 16,21 MB
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 1461531764
Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Author : Jean-Paul Laumond
Publisher : Springer
Page : 366 pages
File Size : 10,26 MB
Release : 1998
Category : Technology & Engineering
ISBN :
Content Description #Includes bibliographical references.
Author : Richard M. Murray
Publisher :
Page : 320 pages
File Size : 37,21 MB
Release : 1990
Category :
ISBN :
Author : Kevin M. Lynch
Publisher : Cambridge University Press
Page : 545 pages
File Size : 17,92 MB
Release : 2017-05-25
Category : Computers
ISBN : 1107156300
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author : Kikuo Fujimura
Publisher : Springer Science & Business Media
Page : 190 pages
File Size : 23,41 MB
Release : 2012-12-06
Category : Computers
ISBN : 4431681655
Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Author : John Baillieul
Publisher : Springer Science & Business Media
Page : 382 pages
File Size : 26,89 MB
Release : 2012-12-06
Category : Mathematics
ISBN : 1461217105
The chapters in this book present an excellent exposition of recent developments in both robotics and nonlinear control centering around "hyper-redundancy", highly oscillatory inputs, optimal control, exterior differential systems, and the use of generic loops. The principal topics covered in the book are: adaptive control for a class of nonlinear systems, event-based motion planning, nonlinear control synthesis and path planning in robotics with special emphasis on nonholonomic and "hyper-redundant" robotic systems, control design and stabilization of driftless affine control systems (of the type arising in the kinematic control of nonholonomic robotic systems), control design methods for Hamiltonian systems and exterior differential systems. The chapter covering exterior differential systems contains a detailed introduction to the use of exterior differential methods, including the Goursat and extended Goursat normal forms and their application to path planning for nonholonomic systems.
Author : Bruno Siciliano
Publisher : Springer
Page : 2259 pages
File Size : 49,32 MB
Release : 2016-07-27
Category : Technology & Engineering
ISBN : 3319325523
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Author : Jean-Paul Laumond
Publisher : CRC Press
Page : 480 pages
File Size : 25,66 MB
Release : 1997-02-11
Category : Computers
ISBN : 1439864527
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 : Krzysztof R. Kozlowski
Publisher : Springer Science & Business Media
Page : 490 pages
File Size : 14,90 MB
Release : 2009-11-15
Category : Technology & Engineering
ISBN : 1848829841
Robot Motion Control 2009 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2009. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors, new control algorithms for industrial robots, nonholonomic systems and legged robots, different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others, multiagent systems consisting of mobile and flying robots with their applications. The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.