Download or read book A Dynamic Load Balancing Parallel Formulation for Enumerative Robot Motion Planning written by Baak Taati and published by . This book was released on 2002 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Scalable Framework for Parallelizing Sampling Based Motion Planning Algorithms written by Samson Ade Jacobs and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion planning is defined as the problem of finding a valid path taking a robot (or any movable object) from a given start configuration to a goal configuration in an environment. While motion planning has its roots in robotics, it now finds application in many other areas of scientific computing such as protein folding, drug design, virtual prototyping, computer-aided design (CAD), and computer animation. These new areas test the limits of the best sequential planners available, motivating the need for methods that can exploit parallel processing. This dissertation focuses on the design and implementation of a generic and scalable framework for parallelizing motion planning algorithms. In particular, we focus on sampling-based motion planning algorithms which are considered to be the state-of-the-art. Our work covers the two broad classes of sampling-based motion planning algorithms--the graph-based and the tree-based methods. Central to our approach is the subdivision of the planning space into regions. These regions represent sub- problems that can be processed in parallel. Solutions to the sub-problems are later combined to form a solution to the entire problem. By subdividing the planning space and restricting the locality of connection attempts to adjacent regions, we reduce the work and inter-processor communication associated with nearest neighbor calculation, a critical bottleneck for scalability in existing parallel motion planning methods. We also describe how load balancing strategies can be applied in complex environments. We present experimental results that scale to thousands of processors on different massively parallel machines for a range of motion planning problems. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/152806
Download or read book Cable Driven Parallel Robots written by Tobias Bruckmann and published by Springer Science & Business Media. This book was released on 2012-09-09 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Download or read book Dynamic Load Balancing in Parallel Join written by Jianfang Li and published by . This book was released on 1995 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Parallel Search Algorithms for Robot Motion Planning written by Daniel Joseph Challou and published by . This book was released on 1993 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Parallel Robots written by J.P. Merlet and published by Springer. This book was released on 2000-07-31 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).
Download or read book Control Problems in Robotics written by Antonio Bicchi and published by Springer Science & Business Media. This book was released on 2007-07-12 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.
Download or read book A Concise Introduction to Decentralized POMDPs written by Frans A. Oliehoek and published by Springer. This book was released on 2016-06-03 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces multiagent planning under uncertainty as formalized by decentralized partially observable Markov decision processes (Dec-POMDPs). The intended audience is researchers and graduate students working in the fields of artificial intelligence related to sequential decision making: reinforcement learning, decision-theoretic planning for single agents, classical multiagent planning, decentralized control, and operations research.
Download or read book Wheeled Mobile Robotics written by Gregor Klancar and published by Butterworth-Heinemann. This book was released on 2017-02-02 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Download or read book The Algorithm Design Manual written by Steven S Skiena and published by Springer Science & Business Media. This book was released on 2009-04-05 with total page 742 pages. Available in PDF, EPUB and Kindle. Book excerpt: This newly expanded and updated second edition of the best-selling classic continues to take the "mystery" out of designing algorithms, and analyzing their efficacy and efficiency. Expanding on the first edition, the book now serves as the primary textbook of choice for algorithm design courses while maintaining its status as the premier practical reference guide to algorithms for programmers, researchers, and students. The reader-friendly Algorithm Design Manual provides straightforward access to combinatorial algorithms technology, stressing design over analysis. The first part, Techniques, provides accessible instruction on methods for designing and analyzing computer algorithms. The second part, Resources, is intended for browsing and reference, and comprises the catalog of algorithmic resources, implementations and an extensive bibliography. NEW to the second edition: • Doubles the tutorial material and exercises over the first edition • Provides full online support for lecturers, and a completely updated and improved website component with lecture slides, audio and video • Contains a unique catalog identifying the 75 algorithmic problems that arise most often in practice, leading the reader down the right path to solve them • Includes several NEW "war stories" relating experiences from real-world applications • Provides up-to-date links leading to the very best algorithm implementations available in C, C++, and Java
Download or read book Advances in Robot Kinematics 2016 written by Jadran Lenarčič and published by Springer. This book was released on 2017-07-26 with total page 447 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.
Download or read book Genetic Algorithms and Robotics written by Yuval Davidor and published by World Scientific. This book was released on 1991 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: Classical optimization methodologies fall short in very large and complex domains. In this book is suggested a different approach to optimization, an approach which is based on the 'blind' and heuristic mechanisms of evolution and population genetics. The genetic approach to optimization introduces a new philosophy to optimization in general, but particularly to engineering. By introducing the ?genetic? approach to robot trajectory generation, much can be learned about the adaptive mechanisms of evolution and how these mechanisms can solve real world problems. It is suggested further that optimization at large may benefit greatly from the adaptive optimization exhibited by natural systems when attempting to solve complex optimization problems, and that the determinism of classical optimization models may sometimes be an obstacle in nonlinear systems.This book is unique in that it reports in detail on an application of genetic algorithms to a real world problem, and explains the considerations taken during the development work. Futhermore, it addresses robotics in two new aspects: the optimization of the trajectory specification which has so far been done by human operators and has not received much attention for both automation and optimization, and the introduction of a heuristic strategy to a field predominated by deterministic strategies.
Download or read book Autonomous Horizons written by Greg Zacharias and published by Independently Published. This book was released on 2019-04-05 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Greg Zacharias, former Chief Scientist of the United States Air Force (2015-18), explores next steps in autonomous systems (AS) development, fielding, and training. Rapid advances in AS development and artificial intelligence (AI) research will change how we think about machines, whether they are individual vehicle platforms or networked enterprises. The payoff will be considerable, affording the US military significant protection for aviators, greater effectiveness in employment, and unlimited opportunities for novel and disruptive concepts of operations. Autonomous Horizons: The Way Forward identifies issues and makes recommendations for the Air Force to take full advantage of this transformational technology.
Download or read book Legged Robots that Balance written by Marc H. Raibert and published by MIT Press. This book was released on 1986 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance. The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles. Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines. Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, Robotics Research. Legged Robots That Balanceis fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.
Download or read book Introduction to Algorithms third edition written by Thomas H. Cormen and published by MIT Press. This book was released on 2009-07-31 with total page 1313 pages. Available in PDF, EPUB and Kindle. Book excerpt: The latest edition of the essential text and professional reference, with substantial new material on such topics as vEB trees, multithreaded algorithms, dynamic programming, and edge-based flow. Some books on algorithms are rigorous but incomplete; others cover masses of material but lack rigor. Introduction to Algorithms uniquely combines rigor and comprehensiveness. The book covers a broad range of algorithms in depth, yet makes their design and analysis accessible to all levels of readers. Each chapter is relatively self-contained and can be used as a unit of study. The algorithms are described in English and in a pseudocode designed to be readable by anyone who has done a little programming. The explanations have been kept elementary without sacrificing depth of coverage or mathematical rigor. The first edition became a widely used text in universities worldwide as well as the standard reference for professionals. The second edition featured new chapters on the role of algorithms, probabilistic analysis and randomized algorithms, and linear programming. The third edition has been revised and updated throughout. It includes two completely new chapters, on van Emde Boas trees and multithreaded algorithms, substantial additions to the chapter on recurrence (now called “Divide-and-Conquer”), and an appendix on matrices. It features improved treatment of dynamic programming and greedy algorithms and a new notion of edge-based flow in the material on flow networks. Many exercises and problems have been added for this edition. The international paperback edition is no longer available; the hardcover is available worldwide.
Download or read book Parallel Sorting Algorithms written by Selim G. Akl and published by Academic Press. This book was released on 2014-06-20 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel Sorting Algorithms explains how to use parallel algorithms to sort a sequence of items on a variety of parallel computers. The book reviews the sorting problem, the parallel models of computation, parallel algorithms, and the lower bounds on the parallel sorting problems. The text also presents twenty different algorithms, such as linear arrays, mesh-connected computers, cube-connected computers. Another example where algorithm can be applied is on the shared-memory SIMD (single instruction stream multiple data stream) computers in which the whole sequence to be sorted can fit in the respective primary memories of the computers (random access memory), or in a single shared memory. SIMD processors communicate through an interconnection network or the processors communicate through a common and shared memory. The text also investigates the case of external sorting in which the sequence to be sorted is bigger than the available primary memory. In this case, the algorithms used in external sorting is very similar to those used to describe internal sorting, that is, when the sequence can fit in the primary memory, The book explains that an algorithm can reach its optimum possible operating time for sorting when it is running on a particular set of architecture, depending on a constant multiplicative factor. The text is suitable for computer engineers and scientists interested in parallel algorithms.
Download or read book An Introduction to Hybrid Dynamical Systems written by Arjan J. van der Schaft and published by Springer. This book was released on 2007-10-03 with total page 189 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about dynamical systems that are "hybrid" in the sense that they contain both continuous and discrete state variables. Recently there has been increased research interest in the study of the interaction between discrete and continuous dynamics. The present volume provides a first attempt in book form to bring together concepts and methods dealing with hybrid systems from various areas, and to look at these from a unified perspective. The authors have chosen a mode of exposition that is largely based on illustrative examples rather than on the abstract theorem-proof format because the systematic study of hybrid systems is still in its infancy. The examples are taken from many different application areas, ranging from power converters to communication protocols and from chaos to mathematical finance. Subjects covered include the following: definition of hybrid systems; description formats; existence and uniqueness of solutions; special subclasses (variable-structure systems, complementarity systems); reachability and verification; stability and stabilizability; control design methods. The book will be of interest to scientists from a wide range of disciplines including: computer science, control theory, dynamical system theory, systems modeling and simulation, and operations research.
