Intelligent Robotic Planning Systems

By: Phillip Chen-yu Sheu, Q Xue

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Paperback | 1 July 1993

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Paperback
280 Pages

Dimensions(cm)
21.59 x 15.24 x 1.27

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This volume focusses on the problem of planning in the context of robotics. This book 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 may be of interest to senior and graduate students in engineering and computer science, AI researchers and professionals.

Industry Reviews

"... a very good and fairly complete treatment of the subject ... very fluently readable ..." Spyros Tzafestas Journal of Intelligent and Robotic Systems, 1996

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Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Computing & I.T.Computer Science Technology in General Engineering in General Booktopia Publisher Services World Scientific Publishing

Preface
Introduction	p. 1
Robotics Basics	p. 1
Robot Programming	p. 2
Robot Path Planning Problem	p. 3
Coordination of Multiple Robots	p. 4
Robotic Task Planning	p. 5
Organization of the Book	p. 6
World Modeling	p. 8
Representation of Solid Objects	p. 8
Representation of Mobile Robots and Obstacles	p. 15
Representation of Robot Manipulators	p. 22
An Object-Oriented Robot Programming Language	p. 25
Robot Programming Languages	p. 25
Object-Oriented Programming	p. 31
The OSIS Query Language	p. 34
Query Programming	p. 37
Solid Objects, Spatial Relationships, and Geometric Constraints	p. 39
Specification of Goals and Operations	p. 44
Classical Robotic Task Planning Systems	p. 47
Conjunctive Problems	p. 47
The Blocks World Problem	p. 49
Forward Planning: GPS	p. 50
Backward and Linear Planning: STRIPS	p. 54
Hierarchical Planning: ABSTRIPS	p. 66
Constructive Robot Task Planning	p. 75
Nonlinear Planning as Constraint Satisfaction	p. 75
The Consumer Ordering Problem	p. 85
The Producer Ordering Problem	p. 86
Robotic Assembly Planning	p. 87
The Consumer-Producer Ordering Problem	p. 99
Solving Blocks World as a Consumer-Producer Ordering Problem	p. 102
Robot Path Planning	p. 109
Path Planning for Mobile Robots	p. 110
Path Planning for Robot Manipulators	p. 134
Collision-Free Path Planning for Shape-Changeable Robots	p. 140
Task Planning for Coordinated Multiple Robots	p. 155
Planning and Plan Revision	p. 155
Nonlinear Planning for Synchronous Actions	p. 160
Coordination Among Asynchronous Robots	p. 164
Motion Planning for Coordinated Multiple Robots	p. 170
Loose Coordination of Multiple Robot Manipulators	p. 170
Motion Planning for Tightly Coordinated Robot Manipulators	p. 189
Robot Path Planning in Unknown Environments	p. 205
Dynamic Path Planning for Robots with Sensors but No Memory	p. 205
Robot Navigation in Unknown Terrains by Learning	p. 230
Conclusions	p. 250
Robot Task Planning	p. 250
Robot Path Planning	p. 251
Multiple Robot Coordination	p. 252
Bibliography	p. 253
Index	p. 262
Table of Contents provided by Blackwell. All Rights Reserved.

Intelligent Robotic Planning Systems

At a Glance

Paperback

Industry Reviews

Shipping

How to return your order

Defective items

You Can Find This Book In

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