Spatial Representation and Motion Planning

✍ Scribed by Angel Pasqual del Pobil, Miguel Angel Serna (eds.)

Publisher: Springer-Verlag Berlin Heidelberg
Year: 1995
Tongue: English
Leaves: 249
Series: Lecture Notes in Computer Science 1014
Edition: 1
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

This book is devoted to the development of adequate spatial representations for robot motion planning. Drawing upon advanced heuristic techniques from AI and computational geometry, the authors introduce a general model for spatial representation of physical objects. This model is then applied to two key problems in intelligent robotics: collision detection and motion planning. In addition, the application to actual robot arms is kept always in mind, instead of dealing with simplified models.
This monograph is built upon Angel del Pobil's PhD thesis which was selected as the winner of the 1992 Award of the Spanish Royal Academy of Doctors.

✦ Table of Contents

Introduction....Pages 1-14
The spatial representation....Pages 15-86
Collision detection....Pages 87-129
Motion planning....Pages 131-171
Extensions to the model....Pages 173-210
Conclusion and future work....Pages 211-215

✦ Subjects

Computing Methodologies

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