Lecture Notes in Computer Science

Error Detection and Recovery in Robotics

Authors: Donald, Bruce R.

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About this book

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.

Buy this book

eBook $74.99
price for USA (gross)
  • ISBN 978-0-387-34784-4
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $109.00
price for USA
  • ISBN 978-0-387-96909-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Error Detection and Recovery in Robotics
Authors
Series Title
Lecture Notes in Computer Science
Series Volume
336
Copyright
1989
Publisher
Springer-Verlag New York
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-0-387-34784-4
DOI
10.1007/BFb0039640
Softcover ISBN
978-0-387-96909-1
Series ISSN
0302-9743
Edition Number
1
Number of Pages
XXIV, 315
Number of Illustrations and Tables
94 b/w illustrations
Topics