Download or read book Trajectory Planning for Automatic Machines and Robots written by Luigi Biagiotti and published by Springer Science & Business Media. This book was released on 2008-10-23 with total page 515 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.

Download or read book The DARPA Urban Challenge written by Martin Buehler and published by Springer. This book was released on 2009-11-26 with total page 651 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Download or read book Sensing and Control for Autonomous Vehicles written by Thor I. Fossen and published by Springer. This book was released on 2017-05-26 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

Download or read book Sustainability Prospects for Autonomous Vehicles written by George T. Martin and published by Routledge. This book was released on 2019-05-31 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Autonomous Vehicle (AV) has been strongly heralded as the most exciting innovation in automobility for decades. Autonomous Vehicles are no longer an innovation of the future (seen only in science fiction) but are now being road-tested for use. And yet while the technical and economic success and possibilities of the AV have been widely debated, there has been a notable lack of discussion around the social, behavioural, and environmental implications. This book is the first to address these issues and to deeply consider the environmental and social sustainability outlook for the AV and how it will impact on communities. Environmental and social sustainability are goals unlike those of technical development (a new tool) and economic development (a new investment). The goal of sustainability is development of societies that live well and equitably within their ecological limits. Is it reasonable and desirable that only technical and economic success comprise the swelling AV parade, or should we be looking at the wider impacts on personal well-being, wider society, and the environment? The uptake for AVs looks to be lengthy, disjointed, and episodic, in large measure because it faces a range of known unknown risks. This book assesses the environmental and social sustainability potential for AVs based on their prospective energy use and their impacts on climate change, urban landscapes, public health, mobility inequalities, and individual and social well-being. It examines public attitudes about AV use and its risk of fostering a rebound effect that compromises potential sustainability gains. The book concludes with a discussion of critical issues involved in sustainable AV diffusion.

Download or read book Moments Positive Polynomials and Their Applications written by Jean-Bernard Lasserre and published by World Scientific. This book was released on 2010 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: 1. The generalized moment problem. 1.1. Formulations. 1.2. Duality theory. 1.3. Computational complexity. 1.4. Summary. 1.5. Exercises. 1.6. Notes and sources -- 2. Positive polynomials. 2.1. Sum of squares representations and semi-definite optimization. 2.2. Nonnegative versus s.o.s. polynomials. 2.3. Representation theorems : univariate case. 2.4. Representation theorems : mutivariate case. 2.5. Polynomials positive on a compact basic semi-algebraic set. 2.6. Polynomials nonnegative on real varieties. 2.7. Representations with sparsity properties. 2.8. Representation of convex polynomials. 2.9. Summary. 2.10. Exercises. 2.11. Notes and sources -- 3. Moments. 3.1. The one-dimensional moment problem. 3.2. The multi-dimensional moment problem. 3.3. The K-moment problem. 3.4. Moment conditions for bounded density. 3.5. Summary. 3.6. Exercises. 3.7. Notes and sources -- 4. Algorithms for moment problems. 4.1. The overall approach. 4.2. Semidefinite relaxations. 4.3. Extraction of solutions. 4.4. Linear relaxations. 4.5. Extensions. 4.6. Exploiting sparsity. 4.7. Summary. 4.8. Exercises. 4.9. Notes and sources. 4.10. Proofs -- 5. Global optimization over polynomials. 5.1. The primal and dual perspectives. 5.2. Unconstrained polynomial optimization. 5.3. Constrained polynomial optimization : semidefinite relaxations. 5.4. Linear programming relaxations. 5.5. Global optimality conditions. 5.6. Convex polynomial programs. 5.7. Discrete optimization. 5.8. Global minimization of a rational function. 5.9. Exploiting symmetry. 5.10. Summary. 5.11. Exercises. 5.12. Notes and sources -- 6. Systems of polynomial equations. 6.1. Introduction. 6.2. Finding a real solution to systems of polynomial equations. 6.3. Finding all complex and/or all real solutions : a unified treatment. 6.4. Summary. 6.5. Exercises. 6.6. Notes and sources -- 7. Applications in probability. 7.1. Upper bounds on measures with moment conditions. 7.2. Measuring basic semi-algebraic sets. 7.3. Measures with given marginals. 7.4. Summary. 7.5. Exercises. 7.6. Notes and sources -- 8. Markov chains applications. 8.1. Bounds on invariant measures. 8.2. Evaluation of ergodic criteria. 8.3. Summary. 8.4. Exercises. 8.5. Notes and sources -- 9. Application in mathematical finance. 9.1. Option pricing with moment information. 9.2. Option pricing with a dynamic model. 9.3. Summary. 9.4. Notes and sources -- 10. Application in control. 10.1. Introduction. 10.2. Weak formulation of optimal control problems. 10.3. Semidefinite relaxations for the OCP. 10.4. Summary. 10.5. Notes and sources -- 11. Convex envelope and representation of convex sets. 11.1. The convex envelope of a rational function. 11.2. Semidefinite representation of convex sets. 11.3. Algebraic certificates of convexity. 11.4. Summary. 11.5. Exercises. 11.6. Notes and sources -- 12. Multivariate integration 12.1. Integration of a rational function. 12.2. Integration of exponentials of polynomials. 12.3. Maximum entropy estimation. 12.4. Summary. 12.5. Exercises. 12.6. Notes and sources -- 13. Min-max problems and Nash equilibria. 13.1. Robust polynomial optimization. 13.2. Minimizing the sup of finitely many rational cunctions. 13.3. Application to Nash equilibria. 13.4. Exercises. 13.5. Notes and sources -- 14. Bounds on linear PDE. 14.1. Linear partial differential equations. 14.2. Notes and sources

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 Autonomous Ground Vehicles written by Ümit Özgüner and published by Artech House. This book was released on 2011 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.

Download or read book Vehicle Propulsion Systems written by Lino Guzzella and published by Springer Science & Business Media. This book was released on 2007-09-21 with total page 345 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors of this text have written a comprehensive introduction to the modeling and optimization problems encountered when designing new propulsion systems for passenger cars. It is intended for persons interested in the analysis and optimization of vehicle propulsion systems. Its focus is on the control-oriented mathematical description of the physical processes and on the model-based optimization of the system structure and of the supervisory control algorithms.

Download or read book Autonomous Driving written by Markus Maurer and published by Springer. This book was released on 2016-05-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".

Download or read book Autonomous and Autonomic Systems With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems written by Walt Truszkowski and published by Springer Science & Business Media. This book was released on 2009-11-12 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the early 1990s, NASA Goddard Space Flight Center started researching and developing autonomous and autonomic ground and spacecraft control systems for future NASA missions. This research started by experimenting with and developing expert systems to automate ground station software and reduce the number of people needed to control a spacecraft. This was followed by research into agent-based technology to develop autonomous ground c- trol and spacecraft. Research into this area has now evolved into using the concepts of autonomic systems to make future space missions self-managing and giving them a high degree of survivability in the harsh environments in which they operate. This book describes much of the results of this research. In addition, it aimstodiscusstheneededsoftwaretomakefutureNASAspacemissionsmore completelyautonomousandautonomic.Thecoreofthesoftwareforthesenew missions has been written for other applications or is being applied gradually in current missions, or is in current development. It is intended that this book should document how NASA missions are becoming more autonomous and autonomic and should point to the way of making future missions highly - tonomous and autonomic. What is not covered is the supporting hardware of these missions or the intricate software that implements orbit and at- tude determination, on-board resource allocation, or planning and scheduling (though we refer to these technologies and give references for the interested reader).

Download or read book The 2005 DARPA Grand Challenge written by Martin Buehler and published by Springer Science & Business Media. This book was released on 2007-09-06 with total page 1103 pages. Available in PDF, EPUB and Kindle. Book excerpt: The DARPA Grand Challenge was a landmark in the field of robotics: a race by autonomous vehicles through 132 miles of rough Nevada terrain. It showcased exciting and unprecedented capabilities in robotic perception, navigation, and control. The event took place in October 2005 and drew teams of competitors from academia and industry, as well as many garage hobbyists. This book presents fifteen technical papers that describe each team's driverless vehicle, race strategy, and insights. As a whole, they present the state of the art in autonomous vehicle technology and offer a glimpse of future technology for tomorrow’s driverless cars.

Download or read book Smart Autonomous Aircraft written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2015-11-18 with total page 434 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the extraordinary growth of Unmanned Aerial Vehicles (UAV) in research, military, and commercial contexts, there has been a need for a reference that provides a comprehensive look at the latest research in the area. Filling this void, Smart Autonomous Aircraft: Flight Control and Planning for UAV introduces the advanced methods of flight contr

Download or read book Autonomy and Unmanned Vehicles written by Somaiyeh MahmoudZadeh and published by Springer. This book was released on 2018-08-06 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Smart Transport for Cities and Nations written by Christian Claudel and published by . This book was released on 2018-06-30 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Systems written by Alexander M. Meystel and published by Wiley-Interscience. This book was released on 2002 with total page 728 pages. Available in PDF, EPUB and Kindle. Book excerpt: This comprehensive treatment of the field of intelligent systems is written by two of the foremost authorities in the field. The authors clearly examine the theoretical and practical aspects of these systems. The book focuses on the NIST-RCS (Real-time Control System) model that has been used recently in the Mars Rover.