Principles of Robot Motion: Theory, Algorithms, and Implementations

Abstract

Principles of Robot Motion is a comprehensive overview of robot motion planning which has become a major focus of robotics research. Such findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to advanced undergraduates and new graduate students of computer science and engineering, relating low-level implementation details to high-level algorithmic concepts. 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 Appendix 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 Representations and Basic Search 521 I Statistics Primer 547 J Linear Systems and Control 552 http://mitpress.mit.edu/catalog/item/default.asp?sid=27038065-E724-44D4-BF78-A52605ADA740&ttype=2&tid=10340