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Author: Marcus Ebner von Eschenbach
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Category :
Languages : en
Pages :
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Author: Marcus Ebner von Eschenbach
Publisher:
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Category :
Languages : en
Pages :
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Author: Abul K. M. Azad
Publisher: World Scientific
ISBN: 9814415944
Category : Technology & Engineering
Languages : en
Pages : 904
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Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
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Languages : en
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Author: Sandeep Singh Chahal
Publisher:
ISBN:
Category :
Languages : en
Pages : 64
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Book Description
Planning algorithms have attained omnipresent successes in several fields including robotics, animation, manufacturing, drug design, computational biology and aerospace applications. Path Planning is an essential component for autonomous robots. The problem involves searching the configuration space and constructing a desired collision-free path that connects two states (the start and the goal) for a robot to gradually navigate from one state to another. In global path planners, the complete path is computed prior to the robot set off. Sampling based planning like Rapidly Expanding Random Trees (RRT) and Probabilistic Road Maps (PRM) used for single or multi-query planning has gained popularity since it is probabilistic complete and scales well to complex configuration spaces. However, re-planning (re-calculating the complete path) is almost unavoidable as path execution is inherently uncertain since a robot will deviate from the path due to slippage and other uncertainties in the environment. Local path planners which only calculate the path direction at the current location partially alleviate this problem since they do not pre-calculate a complete path and are thus less affected by deviations. However, local path planners are either not complete or, if they use navigation functions, do not scale well to complex environments. To address this, this work presents an approach that combines the advantages of sampling-based global path planning with the benefit of a local, navigation function-based path planning on the generated sample space. This reduces the need for re-planning if the robot diverges from the original path by utilizing a harmonic function potential field computed over the RRT sample set and directional nearest neighbors. The proposed work derives the samples in the environment using a simple randomized algorithm and systematically sampled obstacles that are hit during random sampling of the space. It therefore avoids sampling of the complete space. Additionally, samples generated during one planning phase can be exploited further for new goals in the environment.
Author: Seyed Abbas Sadat Kooch Mohtasham
Publisher:
ISBN:
Category :
Languages : en
Pages : 99
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Micro Aerial Vehicles (MAVs) have gained much attention as data collection and sensing platforms. Professionals in many fields can access rich sensory data with fast update rates by performing automated aerial surveys using MAVs. However, these robots have limited payloads and short flight times. Therefore, it is useful to perform a task with light and low-powered sensors and as quickly as possible. In this proposal, we consider some of the fundamental tasks performed by MAVs and propose methods by which a MAV can achieve these tasks more efficiently and robustly. In the first part of this thesis, we consider the task of navigation in which a MAV, using visual Simultaneous Localization and Mapping (SLAM) to map the environment and localize itself within it, moves from its current location to a goal location. As SLAM is highly dependent on the visibility of visual features, we propose an adaptive path planning approach that avoids visually-poor regions of the environment and can generate safe trajectories for the MAV to perform the navigation task. In the second part, an aerial coverage task is considered where the MAV must map interesting regions with initially unknown locations. Rather than using an exhaustive 'lawnmower' coverage pattern that sweeps the entire region uniformly, we propose non-uniform coverage strategies that adaptively cover all the interesting regions with high resolution and coarsely sweep the rest of the area. The proposed methods generate shorter trajectories compared to a uniform lawnmower pattern. In the last part of the thesis, we assume a time/energy budget for the vehicle and consider specific costs for different manoeuvres of the MAV. We introduce a novel problem of guaranteeing complete coverage of an area at low resolution, while identifying regions of interest (ROIs), and locally surveying as much of the ROIs at high resolution as the battery allows. Three different policies are proposed to decide when to switch between the coarse survey and high resolution imagery data collection.
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Category :
Languages : en
Pages : 15
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Book Description
Path planning needs to be fast to facilitate real-time robot programming. Unfortunately, current planning techniques are still too slow to be effective, as they often require several minutes, if not hours of computation. To overcome this difficulty, we present an adaptive algorithm that uses previous experience to speed up future performance. It is a learning algorithm suitable for incrementally-changing environments such as those encountered in manufacturing of evolving products and waste-site remediation. The algorithm extends our previous work for stationary environments in two directions: For minor environmental change, an object-attached experience abstraction scheme is introduced to increase the flexibility of the learned experience; for major environmental change, an on-demand experience repair scheme is also introduced to retain those experiences that remain valid and useful. In addition to presenting this algorithm, we identify three other variants with different repair strategies. To compare these algorithms, we develop an analytic model to compare the costs and benefits of the corresponding repair processes. Using this model, we formalize the concept of incremental change, and prove the optimality of our proposed algorithm under such change. Empirically, we also characterize the performance curve of each variant, confirm our theoretical optimality results, and demonstrate the practicality of our algorithm.
Author: Howie Choset
Publisher: MIT Press
ISBN: 9780262033275
Category : Technology & Engineering
Languages : en
Pages : 642
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Book Description
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. 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.
Author: Tan, Ying
Publisher: IGI Global
ISBN: 1466695730
Category : Technology & Engineering
Languages : en
Pages : 889
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Book Description
Studies on robotics applications have grown substantially in recent years, with swarm robotics being a relatively new area of research. Inspired by studies in swarm intelligence and robotics, swarm robotics facilitates interactions between robots as well as their interactions with the environment. The Handbook of Research on Design, Control, and Modeling of Swarm Robotics is a collection of the most important research achievements in swarm robotics thus far, covering the growing areas of design, control, and modeling of swarm robotics. This handbook serves as an essential resource for researchers, engineers, graduates, and senior undergraduates with interests in swarm robotics and its applications.
Author: Management Association, Information Resources
Publisher: IGI Global
ISBN: 1522519092
Category : Mathematics
Languages : en
Pages : 1795
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Book Description
There are a myriad of mathematical problems that cannot be solved using traditional methods. The development of fuzzy expert systems has provided new opportunities for problem-solving amidst uncertainties. Fuzzy Systems: Concepts, Methodologies, Tools, and Applications is a comprehensive reference source on the latest scholarly research and developments in fuzzy rule-based methods and examines both theoretical foundations and real-world utilization of these logic sets. Featuring a range of extensive coverage across innovative topics, such as fuzzy logic, rule-based systems, and fuzzy analysis, this is an essential publication for scientists, doctors, engineers, physicians, and researchers interested in emerging perspectives and uses of fuzzy systems in various sectors.
Author: Martin J. Murphy
Publisher: CRC Press
ISBN: 1439821933
Category : Medical
Languages : en
Pages : 168
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Book Description
External-beam radiotherapy has long been challenged by the simple fact that patients can (and do) move during the delivery of radiation. Recent advances in imaging and beam delivery technologies have made the solution—adapting delivery to natural movement—a practical reality. Adaptive Motion Compensation in Radiotherapy provides the first detailed treatment of online interventional techniques for motion compensation radiotherapy. This authoritative book discusses: Each of the contributing elements of a motion-adaptive system, including target detection and tracking, beam adaptation, and patient realignment Treatment planning issues that arise when the patient and internal target are mobile Integrated motion-adaptive systems in clinical use or at advanced stages of development System control functions essential to any therapy device operating in a near-autonomous manner with limited human interaction Necessary motion-detection methodology, repositioning techniques, and approaches to interpreting and responding to target movement data in real time Medical therapy with external beams of radiation began as a two-dimensional technology in a three-dimensional world. However, in all but a limited number of scenarios, movement introduces the fourth dimension of time to the treatment problem. Motion-adaptive radiation therapy represents a truly four-dimensional solution to an inherently four-dimensional problem. From these chapters, readers will gain not only an understanding of the technical aspects and capabilities of motion adaptation but also practical clinical insights into planning and carrying out various types of motion-adaptive radiotherapy treatment.
