Robotics Research Technical Report: Algorithmic Motion Planning in Robotics (Classic Reprint) - Softcover

Sharir, Micha

9781332098132: Robotics Research Technical Report: Algorithmic Motion Planning in Robotics (Classic Reprint)

Softcover

ISBN 10: 1332098134 ISBN 13: 9781332098132

Verlag: Forgotten Books, 2018

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Excerpt from Robotics Research Technical Report: Algorithmic Motion Planning in Robotics

We will have more to say about these extensions of the problem later on, but for now let us focus on the simpler, static, and purely geometric version of the problem as posed above. As we shall see, it is difficult enough to solve the problem as it is, and each of the extensions just mentioned tends to make the solution ever so much more complicated.

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Excerpt from Robotics Research Technical Report: Algorithmic Motion Planning in Robotics

1. Introduction

This paper surveys recent progress in algorithmic motion planning in robotics. Research on theoretical problems in robotics looks ahead to a future generation of robots that will be considerably more autonomous than present robotic systems. The main objective is to endow robotic systems with various basic capabilities that they will need to possess in order to operate in an intelligent and independent manner. These improved capabilities can be grouped into three broad categories: sensing, planning, and control. That is, the system should be able to gather information about its workspace through a variety of sensing devices (vision, tactile, or proximity sensing, etc.), analyze and transform the raw sensory data into a world model of the environment, use this model to plan tasks that it is commanded to execute (navigation, assembly, inspection, machining, etc.), where planning amounts to breaking up the complex task into a sequence of simple subgoals, whose combined execution will accomplish the desired task, and finally obtain a low-level control loop which monitors the actual execution of each planned substep of the task.

Of these three categories, the planning stage aims to allow the robot's user to specify a desired activity in very high level, general terms, and then have the system fill in the missing low-level details. For example, the user might specify the end product of some assembly process, and ask the system to construct a sequence of assembly substeps; or, at a less demanding level, to plan collision-free motions which pick up individual subparts of an object to be assembled, transport them to their assembly position, and insert them into their proper places.

Studies in this area have shown it to have significant mathematical content; tools drawn from various subfields of mathematics, such as classical geometry, topology, algebraic geometry, algebra, and combinatories have all proved relevant.

About the Publisher

Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com

This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.

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