1st Edition

Algorithmic and Computational Robotics
New Directions 2000 WAFR

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ISBN 9781568811253
Published April 21, 2001 by A K Peters/CRC Press
390 Pages

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Book Description

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.

Table of Contents

1. Meso-Scale Self-Assembly 2. Robust Geometric Computing in Motion 3. Controlled Module Density Helps Reconfiguration Planning 4. Positioning Symmetric and Non-Symmetric Parts Using Radial and Constant Force Fields 5. Complete Distributed Coverage of Rectilinear Environments 6. Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays 7. Kinematic Tolerance Analysis with Configuration Spaces 8. Deformable Free Space Tilings for Kinetic Collision Detection 9. Real-time Global Deformations 10. Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting 11. Manipulation of Pose Distributions 12. Image Guided Surgery 13. Pulling Motion Based Tactile Sensing 14. Compensatory Grasping with the Parallel Jaw Gripper 15. Optimal Planning for Coordinated Vehicles 16. An Efficient Approximation Algorithm for Weighted Region Shortest Path Problem 17. Synthesis and Regulation of Cyclic Behaviors 18. A Framework for Steering Dynamic Robotic Locomotion Systems 19. A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems 20. Randomized Kinodynamic Motion Planning with Moving Obstacles 21. On Random Sampling in Contact Configuration Space 22. Randomized Path Planning for a Rigid Body Based on Hardware Accelerated Voronoi Sampling 23. Rapidly-Exploring Random Trees: Progress and Prospects 24. Encoders for Spherical Motion Using Discrete Optical Sensors 25. Notes on Visibility Roadmaps and Path Planning 26. AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots 27. Coupled Oscillators for Legged Robots 28. Reliable Mobile Robot Navigation from Unreliable Visual Cues 29. Toward Real-Time Motion Planning in Changing Environments 30. Graphical Construction of Time Optimal Trajectories for Differential Drive Robots

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Donald, Bruce; Lynch, Kevin; Rus, Daniela

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