Intelligent Robotic Planning Systems

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Overview

This volume focuses 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-specified 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 is probably the very first book 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, Al researchers and professionals. Readership: Computer scientists and engineers.
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Product Details

Table of Contents

Preface
Ch. 1 Introduction 1
1.1 Robotics Basics 1
1.2 Robot Programming 2
1.3 Robot Path Planning Problem 3
1.4 Coordination of Multiple Robots 4
1.5 Robotic Task Planning 5
1.6 Organization of the Book 6
Ch. 2 World Modeling 8
2.1 Representation of Solid Objects 8
2.2 Representation of Mobile Robots and Obstacles 15
2.3 Representation of Robot Manipulators 22
Ch. 3 An Object-Oriented Robot Programming Language 25
3.1 Robot Programming Languages 25
3.2 Object-Oriented Programming 31
3.3 The OSIS Query Language 34
3.4 Query Programming 37
3.5 Solid Objects, Spatial Relationships, and Geometric Constraints 39
3.6 Specification of Goals and Operations 44
Ch. 4 Classical Robotic Task Planning Systems 47
4.1 Conjunctive Problems 47
4.2 The Blocks World Problem 49
4.3 Forward Planning: GPS 50
4.4 Backward and Linear Planning: STRIPS 54
4.5 Hierarchical Planning: ABSTRIPS 66
Ch. 5 Constructive Robot Task Planning 75
5.1 Nonlinear Planning as Constraint Satisfaction 75
5.2 The Consumer Ordering Problem 85
5.3 The Producer Ordering Problem 86
5.4 Robotic Assembly Planning 87
5.5 The Consumer-Producer Ordering Problem 99
5.6 Solving Blocks World as a Consumer-Producer Ordering Problem 102
Ch. 6 Robot Path Planning 109
6.1 Path Planning for Mobile Robots 110
6.2 Path Planning for Robot Manipulators 134
6.3 Collision-Free Path Planning for Shape-Changeable Robots 140
Ch. 7 Task Planning for Coordinated Multiple Robots 155
7.1 Planning and Plan Revision 155
7.2 Nonlinear Planning for Synchronous Actions 160
7.3 Coordination Among Asynchronous Robots 164
Ch. 8 Motion Planning for Coordinated Multiple Robots 170
8.1 Loose Coordination of Multiple Robot Manipulators 170
8.2 Motion Planning for Tightly Coordinated Robot Manipulators 189
Ch. 9 Robot Path Planning in Unknown Environments 205
9.1 Dynamic Path Planning for Robots with Sensors but No Memory 205
9.2 Robot Navigation in Unknown Terrains by Learning 230
Ch. 10 Conclusions 250
10.1 Robot Task Planning 250
10.2 Robot Path Planning 251
10.3 Multiple Robot Coordination 252
Bibliography 253
Index 262
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