Download e-book for kindle: Algorithmic Foundation of Robotics VII: Selected by Erion Plaku, Lydia E. Kavraki (auth.), Srinivas Akella,

By Erion Plaku, Lydia E. Kavraki (auth.), Srinivas Akella, Nancy M. Amato, Wesley H. Huang, Bud Mishra (eds.)

ISBN-10: 3540684042

ISBN-13: 9783540684046

ISBN-10: 3540684050

ISBN-13: 9783540684053

Algorithms are a basic part of robot platforms: they keep an eye on or cause approximately movement and notion within the actual international. They obtain enter from noisy sensors, think about geometric and actual constraints, and function at the global via vague actuators. The layout and research of robotic algorithms for that reason increases a different mix of questions on top of things idea, computational and differential geometry, and computing device science.

This booklet includes the lawsuits from the 2006 Workshop at the Algorithmic Foundations of Robotics. This biannual workshop is a hugely selective assembly of prime researchers within the box of algorithmic matters with regards to robotics. The 32 papers during this e-book span a large choice of subject matters: from basic movement making plans algorithms to purposes in drugs and biology, yet they've got in universal a starting place within the algorithmic difficulties of robot systems.

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Extra resources for Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics

Example text

We then pick a point x ∈ FW , as described above, and compute qx so that at q = (qx , qθ ), the robot’s feature point f lies at x and the robot has orientation qθ . For an articulated robot, the configuration q specifies its joints parameters q 1 , q 2 , . .. Suppose that the feature point f lies in the th link of the robot. To sample a configuration, we again pick a point x ∈ FW and then find the joint parameters q1 , q2 , . . , q that place f at x by solving the robot’s inverse kinematics (IK) equations.

2 K-Order Deformation Definition 1. A K-order deformation is a particular homotopic deformation such that each curve transforming a point of τ into a point of τ is an angle line of K segments. a c b τ τ τ τ τ τ Fig. 2. (a) General homotopic deformation. (b) first order deformation: the deformation surface is a ruled surface. (c) Second order deformation: the deformation surface is obtained by concatenating two ruled surfaces. Therefore, a first-order deformation surface describes a ruled surface and a Korder deformation is obtained by concatenation of K ruled surfaces.

This process starts with the shortest path found and stops when a visible deformation is possible (then the configuration is rejected) or when all the possible paths have been tested (then the configuration and the edges n1 −qv and n2 −qv are inserted). TestRedundancy(τ, n1 , n2 , G) 1 τ ← BestPath(n1 , n2 , G) 2 While τ = ∅ 3 If VisibDeformation(τ, τ ) = T rue 4 Return T rue 5 End If 6 τ ← BestPath(n1 , n2 , G) 7 End While 8 Return False Fig. 13. Visibility deformation test between a path τ and a roadmap path The VisibDeformation function (line 3 of algorithm 13) tests whether two paths τ and τ can be visibility deformed one into the other.

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Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics by Erion Plaku, Lydia E. Kavraki (auth.), Srinivas Akella, Nancy M. Amato, Wesley H. Huang, Bud Mishra (eds.)


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