A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts.Chapter 2 dives right into a class of simple and intuitive aquot;Bugaquot; algorithms requiring a minimum of mathematical ... To move beyond simple point robots, in chapter 3 we study the configuration space of more general robot systems, ... Potential fields can be generated offline, using a model of the environment, or calculated in real-time using current sensor readings. ... In chapter 5, we introduce more concise representations of the robota#39;s free space that a planner can use to plan pathsanbsp;...

Title | : | Principles of Robot Motion |

Author | : | Howie M. Choset |

Publisher | : | MIT Press - 2005 |

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