Probabilistic Motion Planning for Automated Vehicles

Probabilistic Motion Planning for Automated Vehicles
Author :
Publisher : KIT Scientific Publishing
Total Pages : 192
Release :
ISBN-10 : 9783731510703
ISBN-13 : 3731510707
Rating : 4/5 (03 Downloads)

Synopsis Probabilistic Motion Planning for Automated Vehicles by : Naumann, Maximilian

In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.

Algorithmic Foundations of Robotics V

Algorithmic Foundations of Robotics V
Author :
Publisher : Springer Science & Business Media
Total Pages : 600
Release :
ISBN-10 : 3540404767
ISBN-13 : 9783540404767
Rating : 4/5 (67 Downloads)

Synopsis Algorithmic Foundations of Robotics V by : Jean-Daniel Boissonnat

Selected contributions to the Workshop WAFR 2002, held December 15-17, 2002, Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.

Robot Motion Planning and Control

Robot Motion Planning and Control
Author :
Publisher : Springer
Total Pages : 366
Release :
ISBN-10 : UOM:39015041768113
ISBN-13 :
Rating : 4/5 (13 Downloads)

Synopsis Robot Motion Planning and Control by : Jean-Paul Laumond

Content Description #Includes bibliographical references.

Planning Algorithms

Planning Algorithms
Author :
Publisher : Cambridge University Press
Total Pages : 844
Release :
ISBN-10 : 0521862051
ISBN-13 : 9780521862059
Rating : 4/5 (51 Downloads)

Synopsis Planning Algorithms by : Steven M. LaValle

Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Algorithmic Foundations of Robotics X

Algorithmic Foundations of Robotics X
Author :
Publisher : Springer
Total Pages : 625
Release :
ISBN-10 : 9783642362798
ISBN-13 : 3642362796
Rating : 4/5 (98 Downloads)

Synopsis Algorithmic Foundations of Robotics X by : Emilio Frazzoli

Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting of leading researchers in the eld of robot algorithms. Since its inception in 1994, WAFR has been held every other year, and has provided one of the premiere venues for the publication of some of the eld's most important and lasting contributions. This books contains the proceedings of the tenth WAFR, held on June 13{15 2012 at the Massachusetts Institute of Technology. The 37 papers included in this book cover a broad range of topics, from fundamental theoretical issues in robot motion planning, control, and perception, to novel applications.

Path Planning for Autonomous Vehicle

Path Planning for Autonomous Vehicle
Author :
Publisher : BoD – Books on Demand
Total Pages : 150
Release :
ISBN-10 : 9781789239911
ISBN-13 : 1789239915
Rating : 4/5 (11 Downloads)

Synopsis Path Planning for Autonomous Vehicle by : Umar Zakir Abdul Hamid

Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).

Autonomy and Unmanned Vehicles

Autonomy and Unmanned Vehicles
Author :
Publisher : Springer
Total Pages : 116
Release :
ISBN-10 : 9789811322457
ISBN-13 : 9811322457
Rating : 4/5 (57 Downloads)

Synopsis Autonomy and Unmanned Vehicles by : Somaiyeh MahmoudZadeh

This book addresses higher–lower level decision autonomy for autonomous vehicles, and discusses the addition of a novel architecture to cover both levels. The proposed framework’s performance and stability are subsequently investigated by employing different meta-heuristic algorithms. The performance of the proposed architecture is shown to be largely independent of the algorithms employed; the use of diverse algorithms (subjected to the real-time performance of the algorithm) does not negatively affect the system’s real-time performance. By analyzing the simulation results, the book demonstrates that the proposed model provides perfect mission timing and task management, while also guaranteeing secure deployment. Although mainly intended as a research work, the book’s review chapters and the new approaches developed here are also suitable for use in courses for advanced undergraduate or graduate students.

Motion Planning for Autonomous Vehicles in Partially Observable Environments

Motion Planning for Autonomous Vehicles in Partially Observable Environments
Author :
Publisher : KIT Scientific Publishing
Total Pages : 222
Release :
ISBN-10 : 9783731512998
ISBN-13 : 3731512998
Rating : 4/5 (98 Downloads)

Synopsis Motion Planning for Autonomous Vehicles in Partially Observable Environments by : Taş, Ömer Şahin

This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.

Autonomous Mobile Robots and Multi-Robot Systems

Autonomous Mobile Robots and Multi-Robot Systems
Author :
Publisher : John Wiley & Sons
Total Pages : 340
Release :
ISBN-10 : 9781119212867
ISBN-13 : 1119212863
Rating : 4/5 (67 Downloads)

Synopsis Autonomous Mobile Robots and Multi-Robot Systems by : Eugene Kagan

Offers a theoretical and practical guide to the communication and navigation of autonomous mobile robots and multi-robot systems This book covers the methods and algorithms for the navigation, motion planning, and control of mobile robots acting individually and in groups. It addresses methods of positioning in global and local coordinates systems, off-line and on-line path-planning, sensing and sensors fusion, algorithms of obstacle avoidance, swarming techniques and cooperative behavior. The book includes ready-to-use algorithms, numerical examples and simulations, which can be directly implemented in both simple and advanced mobile robots, and is accompanied by a website hosting codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming consists of four main parts. The first looks at the models and algorithms of navigation and motion planning in global coordinates systems with complete information about the robot’s location and velocity. The second part considers the motion of the robots in the potential field, which is defined by the environmental states of the robot's expectations and knowledge. The robot's motion in the unknown environments and the corresponding tasks of environment mapping using sensed information is covered in the third part. The fourth part deals with the multi-robot systems and swarm dynamics in two and three dimensions. Provides a self-contained, theoretical guide to understanding mobile robot control and navigation Features implementable algorithms, numerical examples, and simulations Includes coverage of models of motion in global and local coordinates systems with and without direct communication between the robots Supplemented by a companion website offering codes, videos, and PowerPoint slides Autonomous Mobile Robots and Multi-Robot Systems: Motion-Planning, Communication and Swarming is an excellent tool for researchers, lecturers, senior undergraduate and graduate students, and engineers dealing with mobile robots and related issues.

The Complexity of Robot Motion Planning

The Complexity of Robot Motion Planning
Author :
Publisher : MIT Press
Total Pages : 220
Release :
ISBN-10 : 0262031361
ISBN-13 : 9780262031363
Rating : 4/5 (61 Downloads)

Synopsis The Complexity of Robot Motion Planning by : John Canny

The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.