Overview

Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.

Full Product Details

Author:   Kikuo Fujimura
Publisher:   Springer Verlag, Japan
Imprint:   Springer Verlag, Japan
Edition:   Softcover reprint of the original 1st ed. 1991
Dimensions:   Width: 17.00cm , Height: 1.10cm , Length: 24.40cm
Weight:   0.349kg
ISBN:  

9784431681670

ISBN 10:   4431681671
Pages:   178
Publication Date:   14 December 2011
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

1 Introduction.- 1.1 Dynamic environments.- 1.2 Statement of the problem.- 1.3 Scope of the monograph.- 2 Background.- 2.1 Stationary obstacles.- 2.2 Dynamic obstacles.- 2.3 Summary.- 3 Time-Minimal Motion: Basics.- 3.1 Introduction.- 3.2 Accessibility graphs.- 3.3 Planning and motion.- 3.4 Time-minimal motion theorem.- 3.5 Analysis.- 3.6 Discussions.- 3.7 Summary.- 4 Time-Minimal Motion: Applications.- 4.1 Concave obstacles.- 4.2 Convex obstacles.- 4.3 Start point and destination point.- 4.4 Piecewise linear motion of the obstacles.- 4.5 Nonlinear motion of the obstacles.- 4.6 Splitting and merging obstacles.- 4.7 Heuristics in dynamic domains.- 4.8 Unexpected obstacles.- 4.9 Summary.- 5 Time-Minimal Motion: Generalizations.- 5.1 Transient obstacles.- 5.2 Moving obstacles in three dimensions.- 5.3 Summary.- 6 Constrained Motion.- 6.1 Constraints on the motion of the robot.- 6.2 Space representation.- 6.3 Path search.- 6.4 Simulation results.- 6.5 Summary.- 7 Multiple Mobile Agents.- 7.1 Distributed approaches.- 7.2 Mobile agents.- 7.3 Simulation results.- 7.4 Summary.- 8 Conclusions.- 8.1 Summary.- 8.2 Open problems.- References.

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