Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, ...
ISBN:
(数字)9783540684053
ISBN:
(纸本)9783540684046
Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science. This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.
In this paper, we develop a suite of motion planning strategies suitable for large-scale sensor networks. These solve the problem of reconfiguring the network to a new shape while minimizing either the total distance ...
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ISBN:
(纸本)9783540684046
In this paper, we develop a suite of motion planning strategies suitable for large-scale sensor networks. These solve the problem of reconfiguring the network to a new shape while minimizing either the total distance traveled by the nodes or the maximum distance traveled by ally node. Three network paradigms are investigated: centralized, computationally distributed, and decentralized. For the centralized case, optimal solutions are obtained in O(m) time in practice using a logarithmic-barrier method. Key to this complexity is transforming the Karush-Kuhn-Tucker (KKT) matrix associated with the Newton step sub-problem into a mono-banded system solvable in O(m) time. These results are then extended to a distributed approach that allows the computation to be evenly partitioned across the m nodes in exchange for O(m) messages in the overlay network. Finally, we offer a decentralized, hierarchical approach whereby follower nodus are able to solve for their objective positions in O(1) time from observing the headings of a small number (2-4) of leader nodes. This is akin to biological systems (e.g. schools of fish. flocks of birds, etc.) capable of complex formation changes using only local sensor feedback. We expect these results will prove useful in extending the mission lives of large-scale mobile sensor networks.
The monograph written by Christian Ott is devoted to the classical research topic of impedance control which has recently found new interest after the progress in the mechanical design of lightweight robotic systems w...
ISBN:
(数字)9783540692553
ISBN:
(纸本)9783540692539
The monograph written by Christian Ott is devoted to the classical research topic of impedance control which has recently found new interest after the progress in the mechanical design of lightweight robotic systems with improved actuation and sensing principles. The contents expand the authors doctoral dissertation and are focused on two key issues, namely joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity, and are tested in extensive experiments on the DLR humanoid manipulator Justin, one of the most advanced robotic systems available up to date from a technology and mechatronics standpoint.
This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), which is a key issue in the creative design of a wide variety of innovative devices based on PMs such as parallel manipulato...
ISBN:
(数字)9783540719908
ISBN:
(纸本)9783540719892
This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), which is a key issue in the creative design of a wide variety of innovative devices based on PMs such as parallel manipulators, parallel kinematic machines (machine tools), motion simulators, haptic devices, micro-manipulators, and nano-manipulators. Type synthesis of PMs refers to finding all the types of PMs realizing a specified motion requirement. This book covers the classification of PMs and an efficient method for the type synthesis of PMs and also provides a large number of PMs ready to be used in practical applications. The synthesis approach is based on the concept of virtual chain and the elementary notions of screw theory. Using the proposed approach, families of PMs are constructed from a set of compositional units. The approach is conceptually simple and easy to use. A general procedure for the mobility analysis of PMs is also presented in order to facilitate the understanding of any architecture of PMs. The prerequisite for this book is basic knowledge on linear algebra and kinematics. This book is appropriate for researchers, developers, engineers and graduate students with interests in robotics, creative mechanism design and screw theory.
Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a quite complete overview of issues related to aerial robotics, addressing problems ranging from flight contro...
ISBN:
(数字)9783540739586
ISBN:
(纸本)9783540739579
Aerial robots can be considered as an evolution of the Unmanned Aerial Vehicles (UAVs). This book provides a quite complete overview of issues related to aerial robotics, addressing problems ranging from flight control to terrain perception and mission planning and execution. The major challenges and potentials of heterogeneous UAVs are comprehensively explored. It builds on the results of the European project COMETS, and highlights a number of key research topics in the area of UAV development, including communication, perception, teleoperation and decision making. The monograph emphasizes the current state of technology, the existing problems and potentialities of systems consisting of multiple UAVs which are heterogeneous in view of the different characteristics of the aerial vehicles, the different on-board payloads, and the different on-board information processing capabilities. The book also examines potential applications of UAVs and details a relevant application case: forest fire detection and monitoring.
The main purpose of this book is to provide readers with recent advances in the field of Telerobotics. It describes methods, experimental results, applications, and developments, highly relevant for scientists, resear...
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ISBN:
(数字)9783540713647
ISBN:
(纸本)9783540713630
The main purpose of this book is to provide readers with recent advances in the field of Telerobotics. It describes methods, experimental results, applications, and developments, highly relevant for scientists, researchers, and students in Teleoperation. This book is structured in three parts: I. Human System Interfaces, II. Control, and III. Applications. Chapters in part I concentrate on human interface technology which allows a human operator to close the control loop of a remote robot. Topics related to control algorithms - in particular for the case with time delay in the communication network - are the focus in part II, concentrating on bilateral control methods. Part III presents a variety of advanced applications in surgery, space, and other fields relevant to everyday life. The book is complemented by a CD-ROM containing fifteen research videos, which make the contents of the book even more descriptive.
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