Intelligent Robotic Planning Systems

Intelligent Robotic Planning Systems

by Phillip C.-Y Sheu, Q. Xue
     
 

ISBN-10: 981020759X

ISBN-13: 9789810207595

Pub. Date: 07/28/1993

Publisher: World Scientific Publishing Company, Incorporated

This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one 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…  See more details below

Overview

This volume focusses on the problem of planning in the context of robotics. Unlike most books on robotics planning which are either too abstract or too specific, this one 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 will be of interest to senior and graduate students in engineering and computer science, AI researchers and professionals.

Product Details

ISBN-13:
9789810207595
Publisher:
World Scientific Publishing Company, Incorporated
Publication date:
07/28/1993
Series:
Series in Robotics and Automated Systems
Pages:
280

Related Subjects

Table of Contents

Preface
Ch. 1Introduction1
1.1Robotics Basics1
1.2Robot Programming2
1.3Robot Path Planning Problem3
1.4Coordination of Multiple Robots4
1.5Robotic Task Planning5
1.6Organization of the Book6
Ch. 2World Modeling8
2.1Representation of Solid Objects8
2.2Representation of Mobile Robots and Obstacles15
2.3Representation of Robot Manipulators22
Ch. 3An Object-Oriented Robot Programming Language25
3.1Robot Programming Languages25
3.2Object-Oriented Programming31
3.3The OSIS Query Language34
3.4Query Programming37
3.5Solid Objects, Spatial Relationships, and Geometric Constraints39
3.6Specification of Goals and Operations44
Ch. 4Classical Robotic Task Planning Systems47
4.1Conjunctive Problems47
4.2The Blocks World Problem49
4.3Forward Planning: GPS50
4.4Backward and Linear Planning: STRIPS54
4.5Hierarchical Planning: ABSTRIPS66
Ch. 5Constructive Robot Task Planning75
5.1Nonlinear Planning as Constraint Satisfaction75
5.2The Consumer Ordering Problem85
5.3The Producer Ordering Problem86
5.4Robotic Assembly Planning87
5.5The Consumer-Producer Ordering Problem99
5.6Solving Blocks World as a Consumer-Producer Ordering Problem102
Ch. 6Robot Path Planning109
6.1Path Planning for Mobile Robots110
6.2Path Planning for Robot Manipulators134
6.3Collision-Free Path Planning for Shape-Changeable Robots140
Ch. 7Task Planning for Coordinated Multiple Robots155
7.1Planning and Plan Revision155
7.2Nonlinear Planning for Synchronous Actions160
7.3Coordination Among Asynchronous Robots164
Ch. 8Motion Planning for Coordinated Multiple Robots170
8.1Loose Coordination of Multiple Robot Manipulators170
8.2Motion Planning for Tightly Coordinated Robot Manipulators189
Ch. 9Robot Path Planning in Unknown Environments205
9.1Dynamic Path Planning for Robots with Sensors but No Memory205
9.2Robot Navigation in Unknown Terrains by Learning230
Ch. 10Conclusions250
10.1Robot Task Planning250
10.2Robot Path Planning251
10.3Multiple Robot Coordination252
Bibliography253
Index262

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