Robotics: The Algorithmic Perspective: WAFR 1998

Robotics: The Algorithmic Perspective: WAFR 1998

by Pankaj K. Agarwal
     
 

This volume gathers together cutting-edge research from the Third Workshop on Algorithmic Foundations of Robotics and gives a solid overview of the state of the art in robot algorithms. The papers cover core problems in robotics, such as motion planning, sensor-based planning, manipulation, and assembly planning. They also examine the application of robotic

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Overview

This volume gathers together cutting-edge research from the Third Workshop on Algorithmic Foundations of Robotics and gives a solid overview of the state of the art in robot algorithms. The papers cover core problems in robotics, such as motion planning, sensor-based planning, manipulation, and assembly planning. They also examine the application of robotic algorithms in domains like molecular modeling, geometric modeling, and computer-assisted surgery.

Product Details

ISBN-13:
9781568810812
Publisher:
Taylor & Francis
Publication date:
12/15/1998
Series:
Workshop on the Algorithmic Foundations Series
Pages:
389
Product dimensions:
8.66(w) x 11.10(h) x (d)

Table of Contents

Foreword
Participants
Algorithmic MEMS1
Universal Part Manipulation in the Plane with a Single Horizontally-Vibrating Plate21
Velocity Field Design for the Modular Distributed Manipulator System (MDMS)35
The Complexity of the Two Dimensional Curvature-Constrained Shortest-Path Problem49
Approximation and Decision Algorithms for Curvature-Constrained Path Planning: A State-Space Approach59
Elastic Bands for Nonholonomic Car-Like Robots: Algorithms and Combinatorial Issues69
Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion81
Mechanics, Planning, and Control for Tapping91
Planning for In-Hand Dextrous Manipulation103
Shape Recovery from Passive Locally Dense Tactile Data119
Geometric Algorithms in AdeptRAPID133
On Finding Narrow Passages with Probabilistic Roadmap Planners141
OBPRM: An Obstacle-Based PRM for 3D Workspaces155
Subdivision: A Technique for Modeling Curved Shape169
Spherical Shell: A Higher Order Bounding Volume for Fast Proximity Queries177
Kinetic Data Structures: A State of the Art Report191
The Polygon Exploration Problem: A New Strategy and a New Analysis Technique211
The Computational Power of Frictional Mechanical Systems223
Issues in Nonprehensile Manipulation237
Local Observability of Rolling251
Geometry for Modeling Biomolecules265
Algorithms for Fence Design279
Shape Tolerance in Feeding and Fixturing297
Towards Planning for Elastic Objects313
Models and Algorithms for the Collision of Rigid and Deformable Bodies327
Numerical Computation of Optimal Navigation Functions on a Simplical Complex339
Synergistic Robots for Surgery: An Algorithmic View of the Approach351
Fourier Methods on Groups: Applications in Robot Kinematics and Motion Planning363
The Self-Reconfiguring Robotic Molecule: Design and Control Algorithms375
Author Index389

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