| | |
Summary: Robotics
notes by: Eyal Amir
March 10, 1997
Abstract
This file contains my knowledge up to date on Robotics and Robot
motion planning. Several figures are added to the file, and describe the
history and structure of the field.
Contents
1 What is a robot? 1
2 Kinematics, Statics and Dynamics 2
3 Robot Motion Planning 2
3.1 Basic Planning methods . . . . . . . . . . . . . . . . . . . . . . . 2
3.1.1 Complete algorithms . . . . . . . . . . . . . . . . . . . . . 3
3.1.2 Probabilistic . . . . . . . . . . . . . . . . . . . . . . . . . 3
3.1.3 Incomplete methods . . . . . . . . . . . . . . . . . . . . . 4
3.2 Variants on the basic path planning problem . . . . . . . . . . . 4
3.2.1 Multiple robots & moving obstacles . . . . . . . . . . . . 4
3.2.2 Kinematic constraints . . . . . . . . . . . . . . . . . . . . 5
3.2.3 Uncertainty . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2.4 Movable objects . . . . . . . . . . . . . . . . . . . . . . . 5
|
