Authors: Howie Choset, Sebastian Thrun, Lydia E. Kavraki, Wolfram Burgard, Kevin M. Lynch
ISBN-13: 9780262033275, ISBN-10: 0262033275
Format: Hardcover
Publisher: MIT Press
Date Published: June 2005
Edition: (Non-applicable)
Howie Choset is Associate Professor in the Robotics Institute at Carnegie Mellon University.
Kevin M. Lynch is Associate Professor in the Mechanical Engineering Department, Northwestern University.
Seth Hutchinson is Professor in the Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign.
George Kantor is Project Scientist in the Center for the Foundations of Robotics, Robotics Institute, Carnegie Mellon University.
Wolfram Burgard is Professor of Computer Science and Head of the research lab for Autonomous Intelligent Systems at the University of Freiburg.
Lydia E. Kavraki is Professor of Computer Science and Bioengineering, Rice University.
Sebastian Thrun is Associate Professor in the Computer Science Department at Stanford University and Director of the Stanford AI Lab.
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts.
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 |
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 representation and basic search | 521 |
I | Statistics primer | 547 |
J | Linear systems and control | 552 |