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Author: Bartlett Mel
Publisher: Elsevier
ISBN: 0323141269
Category : Technology & Engineering
Languages : en
Pages : 183
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Book Description
Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching is the third series in a cluster of books on robotics and related areas as part of the Perspectives in Artificial Intelligence Series. This series focuses on an experimental paradigm using the MURPHY system to tackle critical issues surrounding robot motion planning. MURPHY is a robot-camera system developed to explore an approach to the kinematics of sensory-motor learning and control for a multi-link arm. Organized into eight chapters, this book describes the guiding of a multi-link arm to visual targets in a cluttered workspace. It primarily focuses on “ecological solutions that are relevant to the typical visually guided reaching behaviors of humans and animals in natural environments. Algorithms that work well in unmodeled workspaces whose effective layouts can change from moment to moment with movements of the eyes, head, limbs, and body are also presented. This book also examines the strengths of neurally inspired connectionist representations and the utility of heuristic search when good performance, even if suboptimal, is adequate for the task. The co-evolution of MURPHY’s design with the brain, presumably in response to similar computational pressures, is described in the concluding chapters, specifically presenting the division of labor between programmed-feedforward and visual-feedback modes of limb control. Design engineers in the fields of biology, neurophysiology, and cognitive psychology will find this book of great value.
Author: Bartlett Mel
Publisher: Elsevier
ISBN: 0323141269
Category : Technology & Engineering
Languages : en
Pages : 183
Get Book Here
Book Description
Connectionist Robot Motion Planning: A Neurally-Inspired Approach to Visually-Guided Reaching is the third series in a cluster of books on robotics and related areas as part of the Perspectives in Artificial Intelligence Series. This series focuses on an experimental paradigm using the MURPHY system to tackle critical issues surrounding robot motion planning. MURPHY is a robot-camera system developed to explore an approach to the kinematics of sensory-motor learning and control for a multi-link arm. Organized into eight chapters, this book describes the guiding of a multi-link arm to visual targets in a cluttered workspace. It primarily focuses on “ecological solutions that are relevant to the typical visually guided reaching behaviors of humans and animals in natural environments. Algorithms that work well in unmodeled workspaces whose effective layouts can change from moment to moment with movements of the eyes, head, limbs, and body are also presented. This book also examines the strengths of neurally inspired connectionist representations and the utility of heuristic search when good performance, even if suboptimal, is adequate for the task. The co-evolution of MURPHY’s design with the brain, presumably in response to similar computational pressures, is described in the concluding chapters, specifically presenting the division of labor between programmed-feedforward and visual-feedback modes of limb control. Design engineers in the fields of biology, neurophysiology, and cognitive psychology will find this book of great value.
Author: John Canny
Publisher: MIT Press
ISBN: 9780262031363
Category : Computers
Languages : en
Pages : 220
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Book Description
The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
Author: Jean-Claude Latombe
Publisher: Springer Science & Business Media
ISBN: 9780792391296
Category : Computers
Languages : en
Pages : 676
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Book Description
One of the ultimate goals in robotics is the creation of autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants dome rather than how to do it. This book discusses a central problem in the development of autonomous robots. Motion planning, the central theme of this book, can be loosely defined as follows: how can a robot decide what motions to perform in order to achieve as a goal the arrangement of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its own motions.
Author: Bartlett W. Mel
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Many aspects of intelligent animal behavior require an understanding of the complex spatial relationships between the body and its parts and the coordinate systems of the external world. This thesis deals specifically with the problem of guiding a multi-link arm to a visual target in the presence of obstacles. A simple vision-based kinematic controller and motion planner based on a connectionist network architecture has been developed, called MURPHY. The physical setup consists of a video camera and a Rhino XR-3 robot arm with three joints that move in the image plane of the camera. We assume no a priori model of arm kinematics or of the imaging characteristics of the camera/visual system, and no sophisticated built-in algorithms for obstacle avoidance. Instead, MURPHY builds a model of his arm through a combination of physical and "mental" practice, and then uses simple heuristic search with mental images of his arm to solve visually-guided reaching problems in the presence of obstacles whose traditional algorithmic solutions are extremely complex. MURPHY differs from previous approaches to robot motion-planning primarily in his use of an explicit full-visual-field representation of the workspace. Several other aspects of MURPHY's design are unusual, including the sigma-pi synaptic learning rule, the teacherless training paradigm, and the integration of sequential control within an otherwise connectionist architecture. In concluding sections we outline a series of strong correspondences between the representations and algorithms used by MURPHY, and the psychology, physiology, and neural bases for the programming and control of directed, voluntary arm movements in humans and animals.
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: Petereit, Janko
Publisher: KIT Scientific Publishing
ISBN: 3731505800
Category : Electronic computers. Computer science
Languages : en
Pages : 282
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Book Description
Mobile robot motion planning in unstructured dynamic environments is a challenging task. Thus, often suboptimal methods are employed which perform global path planning and local obstacle avoidance separately. This work introduces a holistic planning algorithm which is based on the concept of state.
Author: Michael Brady
Publisher: MIT Press
ISBN: 9780262021821
Category : Computers
Languages : en
Pages : 618
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Book Description
Dynamics; Feedback control; Trajectory planning; Compliance; Task planning.
Author: Kamal Gupta
Publisher: Chichester, England ; Toronto : J. Wiley
ISBN:
Category : Computers
Languages : en
Pages : 376
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Book Description
Practical Motion Planning in Robotics Current Approaches and Future Directions Edited by Kamal Gupta Simon Fraser University, Burnaby, Canada Angel P. del Pobil Jaume-l University, Castellon, Spain Designed to bridge the gap between research and industry, Practical Motion Planning in Robotics brings theoretical advances to bear on real-world applications. Capitalizing on recent progress, this comprehensive study emphasizes the practical aspects of techniques for collision detection, obstacle avoidance, path planning and manipulation planning. The broad approach spans both model- and sensor-based motion planning, collision detection and geometric complexity, and future directions. Features include: - Review of state-of-the-art techniques and coverage of the main issues to be considered in the development of motion planners for use in real applications - Focus on gross motion planning for articulated arms enabling robots to perform non-contact tasks with relatively high tolerances plus brief consideration of mobile robots - The use of efficient algorithms to tackle incremental changes in the environment - Illlustration of robot motion planning applications in virtual prototyping and the shipbuilding industry - Demonstration of efficient path planners combining both local and global planning approaches in conjunction with efficient techniques for collision detection and distance computations - International contributions from academia and industry Combining theory and practice, this timely book will appeal to academic researchers and practising engineers in the fields of robotic systems, mechatronics and computer science.
Author: Cristian Mahulea
Publisher: John Wiley & Sons
ISBN: 1119486327
Category : Technology & Engineering
Languages : en
Pages : 240
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Book Description
Offers an integrated presentation for path planning and motion control of cooperative mobile robots using discrete-event system principles Generating feasible paths or routes between a given starting position and a goal or target position—while avoiding obstacles—is a common issue for all mobile robots. This book formulates the problem of path planning of cooperative mobile robots by using the paradigm of discrete-event systems. It presents everything readers need to know about discrete event system models—mainly Finite State Automata (FSA) and Petri Nets (PN)—and methods for centralized path planning and control of teams of identical mobile robots. Path Planning of Cooperative Mobile Robots Using Discrete Event Models begins with a brief definition of the Path Planning and Motion Control problems and their state of the art. It then presents different types of discrete models such as FSA and PNs. The RMTool MATLAB toolbox is described thereafter, for readers who will need it to provide numerical experiments in the last section. The book also discusses cell decomposition approaches and shows how the divided environment can be translated into an FSA by assigning to each cell a discrete state, while the adjacent relation together with the robot's dynamics implies the discrete transitions. Highlighting the benefits of Boolean Logic, Linear Temporal Logic, cell decomposition, Finite State Automata modeling, and Petri Nets, this book also: Synthesizes automatic strategies based on Discrete Event Systems (DES) for path planning and motion control and offers software implementations for the involved algorithms Provides a tutorial for motion planning introductory courses or related simulation-based projects using a MATLAB package called RMTool (Robot Motion Toolbox) Includes simulations for problems solved by methodologies presented in the book Path Planning of Cooperative Mobile Robots Using Discrete Event Models is an ideal book for undergraduate and graduate students and college and university professors in the areas of robotics, artificial intelligence, systems modeling, and autonomous control.
Author: Kikuo Fujimura
Publisher: Springer Science & Business Media
ISBN: 4431681655
Category : Computers
Languages : en
Pages : 190
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Book Description
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.
