Algorithmic Foundations of Robotics: WAFR 1994 / Edition 1

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Algorithms, the heart of robotics, form the connection between data collected by sensors and the robotís activities. They also serve as a medium to describe the foundations and principles of robotics.Paper Topics Include: Motion Planning
• Navigation
• Manipulation
• Grasping
• Assembly
• Controllability
• Recognizability
• Learning and Distributed Control
• Task-Specific Manipulator Design
• Simulation of Linkages and Collisions
• Completeness and Complexity Measures
• Computational Algebra and Geometry
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Editorial Reviews

Proceedings of the Workshop on [title], held in San Francisco, February 1994, to create a better understanding of how algorithms might serve as a coherent and unifying subfield within robotics. Following an overview paper, 32 papers address topics in motion planning, navigation, manipulation, grasping, assembly, controllability, recognizability, learning and distributed control, task-specific manipulator design, simulation of linkages and collisions, completeness and complexity measures, and computational algebra and geometry. No index. Annotation c. Book News, Inc., Portland, OR (
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Product Details

Table of Contents

Robot Algorithms 1
A Probabilistic Learning Approach to Motion Planning 19
The "Ariadne's Clew" Algorithm: Global Planning with Local Methods 39
Motion Planning of Legged Robots 49
Vision-Based Motion Planning and Exploration Algorithms for Mobile Robots 69
Visually-Guided Navigation by Comparing Edge Images 85
Mobile Robot Navigation Algorithms 97
Two Manipulation Planning Algorithms 109
Natural Sets in Manipulation Tasks 127
Grasp Metrics: Optimality and Complexity 137
Algorithms for Computing Force-Closure Grasps of Polyhedral Objects 167
Solving Complex Motion Planning Problems by Combining Geometric and Physical Models: The Case of a Rover and of a Dextrous Hand 185
Geometric Reasoning About Mechanical Assembly 203
The Hand Complexity of Assembly 221
Nonholonomic Motion Planning via Optimal Control 227
Stable Pushing: Mechanics, Controllability, and Planning 239
The Geometry of a Robot Programming Language 263
The Robot Localization Problem 269
The Complexity of Sensing by Point Sampling 283
Exploiting Visual Constraints in the Synthesis of Uncertainty-Tolerant Motion Plans 301
A Machine Learning Perspective on Modeling Robot Actions 319
Social Potential Fields: A Distributed Behavioral Control for Autonomous Robots 331
Algorithms for Optimal Design of Robots in Complex Environments 347
Design of Modular Fault Tolerant Manipulators 371
Computational Kinematics 385
Impulse-Based Dynamic Simulation 407
Completeness in Robot Motion Planning 419
Information Invariants for Distributed Manipulation 431
Anticipating Computational Demands When Solving Time-Critical Decision-Making Problems 459
On the Algebraic Geometry of a Class of Contact Formation Cells 477
Arrangements and Their Applications in Robotics: Recent Developments 495
A Toolkit for Non-Linear Algebra 513
Computing a Set of Points Meeting Every Cell Defined by a Family of Polynomials on a Variety 537
Author Index 557
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