This book is devoted to the development of adequate spatial representations for robot motion planning. Drawing upon advanced heuristic techniques from AI and computational geometry, the authors introduce a general model for spatial representation of physical objects. This model is then applied to two key problems in intelligent robotics: collision detection and motion planning. In addition, the application to actual robot arms is kept always in mind, instead of dealing with simplified models.
This monograph is built upon Angel del Pobil's PhD thesis which was selected as the winner of the 1992 Award of the Spanish Royal Academy of Doctors.

Bibliographic Information

Book Title: Spatial Representation and Motion Planning
Editors: Angel Pasqual Pobil, Miguel Angel Serna
Series Title: Lecture Notes in Computer Science
DOI: https://doi.org/10.1007/3-540-60620-3
Publisher: Springer Berlin, Heidelberg
eBook Packages: Springer Book Archive
Copyright Information: Springer-Verlag Berlin Heidelberg 1995
Softcover ISBN: 978-3-540-60620-8Published: 08 November 1995
eBook ISBN: 978-3-540-48489-9Published: 30 June 2005
Series ISSN: 0302-9743
Series E-ISSN: 1611-3349
Edition Number: 1
Number of Pages: XIII, 242
Topics: Robotics and Automation, Artificial Intelligence

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Spatial Representation and Motion Planning

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Table of contents (6 chapters)

Front Matter

Introduction

The spatial representation

Collision detection

Motion planning

Extensions to the model

Conclusion and future work

Back Matter

Keywords

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