Algorithmic and Computational Robotics

Name: Algorithmic and Computational Robotics
Brand: A K PETERS LTD (MA)
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New Directions: The Fourth Workshop on the Algorithmic Foundations of Robotics

By: Bruce Donald (Editor), Kevin Lynch (Editor), Daniela Rus (Editor)

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Hardcover | 21 April 2001 | Edition Number 1

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Hardcover
400 Pages

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29.21 x 22.86 x 2.54

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Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications. An interdisciplinary group of scientists gathers every two years to document the progress in algorithmic foundations of robotics. This volume addresses in particular the areas of control theory, computational and differential geometry in robotics, and applications to core problems such as motion planning, navigation, sensor-based planning, and manipulation.

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Foreword	p. vii
Participants	p. ix
Meso-Scale Self-Assembly	p. 1
Robust Geometric Computing in Motion	p. 9
Controlled Module Density Helps Reconfiguration Planning	p. 23
Positioning Symmetric and Non-Symmetric Parts Using Radial and Constant Force Fields	p. 37
Complete Distributed Coverage of Rectilinear Environments	p. 51
Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays	p. 63
Kinematic Tolerance Analysis with Configuration Spaces	p. 73
Deformable Free Space Tilings for Kinetic Collision Detection	p. 83
Real-time Global Deformations	p. 97
Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting	p. 109
Manipulation of Pose Distributions	p. 127
Image Guided Surgery	p. 143
Pulling Motion Based Tactile Sensing	p. 157
Compensatory Grasping with the Parallel Jaw Gripper	p. 169
Optimal Planning for Coordinated Vehicles	p. 181
An Efficient Approximation Algorithm for Weighted Region Shortest Path Problem	p. 191
Synthesis and Regulation of Cyclic Behaviors	p. 205
A Framework for Steering Dynamic Robotic Locomotion Systems	p. 221
A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems	p. 233
Randomized Kinodynamic Motion Planning with Moving Obstacles	p. 247
On Random Sampling in Contact Configuration Space	p. 265
Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling	p. 279
Rapidly-Exploring Random Trees: Progress and Prospects	p. 293
Encoders for Spherical Motion Using Discrete Optical Sensors	p. 309
Notes on Visibility Roadmaps and Path Planning	p. 317
AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots	p. 329
Coupled Oscillators for Legged Robots	p. 341
Reliable Mobile Robot Navigation From Unreliable Visual Cues	p. 349
Toward Real-Time Motion Planning in Changing Environments	p. 363
Graphical Construction of Time Optimal Trajectories for Differential Drive Robots	p. 377
Table of Contents provided by Syndetics. All Rights Reserved.

Algorithmic and Computational Robotics

New Directions: The Fourth Workshop on the Algorithmic Foundations of Robotics

At a Glance

Hardcover

Shipping

How to return your order

Defective items

You Can Find This Book In

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