Principles of Robot Motion: Theory, Algorithms, and Implementations (PagePerfect NOOK Book) [NOOK Book]

Overview

A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts.
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Principles of Robot Motion: Theory, Algorithms, and Implementations (PagePerfect NOOK Book)

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Overview

A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts.
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Product Details

Meet the Author

Howie Choset is Associate Professor in the Robotics Institute at Carnegie Mellon University.

Kevin M. Lynch is Associate Professor in the Mechanical Engineering Department, Northwestern University.

Seth Hutchinson is Professor in the Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign.

George Kantor is Project Scientist in the Center for the Foundations of Robotics, Robotics Institute, Carnegie Mellon University.

Wolfram Burgard is Professor of Computer Science and Head of the research lab for Autonomous Intelligent Systems at the University of Freiburg.

Lydia E. Kavraki is Professor of Computer Science and Bioengineering, Rice University.

Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.

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Table of Contents

1 Introduction 1
2 Bug algorithms 17
3 Configuration space 39
4 Potential functions 77
5 Roadmaps 107
6 Cell decompositions 161
7 Sampling-based algorithms 197
8 Kalman filtering 269
9 Bayesian methods 301
10 Robot dynamics 349
11 Trajectory planning 373
12 Nonholonomic and underactuated systems 401
A Mathematical notation 473
B Basic set definitions 475
C Topology and metric spaces 478
D Curve tracing 487
E Representations of orientation 489
F Polyhedral robots in polyhedral worlds 499
G Analysis of algorithms and complexity classes 513
H Graph representation and basic search 521
I Statistics primer 547
J Linear systems and control 552
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