Error Detection and Recovery in Robotics

Donald, Bruce R.,

ISBN 10: 3540969098 / ISBN 13: 9783540969099

Published by Springer Berlin, 1989

314 Seiten Ehem. Bibliotheksexemplar mit üblichen Merkmalen wie Signatur und Stempel. Moderate Lager- und Gebrauchsspuren. Text bis auf vereinzelt mögliche Anstreichungen sauber. Gutes Arbeitsexemplar. Sprache: englisch. Ex library book with stamps and signature. Slight signs of use. Good condition. Language: english. 9783540969099 Sprache: Englisch Gewicht in Gramm: 558. Seller Inventory # 1104269

Synopsis:

Robotics is the science that attempts to forge an intelligent, computational connection between perception and action. Perhaps the most fundamental problems in robotics today are uncertainty and error in control, sensing, and modelling. In this monograph the author provides what is perhaps the first systematic treatment of the uncertainty problem. This book descibes the theory he developed for planning compliant motions for tasks such as robotic assembly. The planner can synthesize robot control programs that are robust in the face of uncertainty in the control system, the robot sensors, and variation in the geometry of the assembly. Perhaps the deepest contribution lies in a new theory of Error Detection and Recovery (EDR). While EDR is largely motivated by the problem of uncertainty its applicability may be quite broad. EDR has been a persistent but ill-defined theme in AI and robotics research. The author gives a constructive, geometric definition for EDR strategies, and shows how they may be computed. This theory represents an elegant mathematical attack on the problem of error detection and recovery based on geometric and physical reasoning. Finally, algorithms for the automatic synthesis of EDR strategies are described, and new results on their computational complexity are analyzed.

Bibliographic Details

Title: Error Detection and Recovery in Robotics
Publisher: Springer Berlin
Publication Date: 1989
Binding: Softcover
Edition: Reprinted edition.