The Complexity of Robot Motion Planning
The Complexity of Robot Motion Planning

Author: John Canny

Publisher: MIT Press

Published: 1988

Total Pages: 220

ISBN-13: 9780262031363

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The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Planning, Geometry, and Complexity of Robot Motion
Planning, Geometry, and Complexity of Robot Motion

Author: Jacob T. Schwartz

Publisher: Intellect Books

Published: 1987

Total Pages: 364

ISBN-13:

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Robotics has come to attract the attention of mathematicians and theoretical computer scientists to a rapidly increasing degree. Initial investigations have shown that robotics is a rich source of deep theoretical problems, which range over computational geometry, control theory, and many aspects of physics, and whose solutions draw upon methods developed in subjects as diverse as automata theory, algebraic topology, and Fourier analysis.

Complex Motion
Complex Motion

Author: Bernd Jähne

Publisher: Springer Science & Business Media

Published: 2007-01-26

Total Pages: 244

ISBN-13: 3540698647

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This book constitutes the thoroughly refereed post-proceedings of the First International Workshop on Complex Motion, IWCM 2004, held in Schloss Reisensburg, Günzburg, Germany, in October 2004. The 17 full papers presented are fully revised to incorporate reviewers' comments and discussions at the workshop.

Robot Programming by Demonstration
Robot Programming by Demonstration

Author: Sylvain Calinon

Publisher: EPFL Press

Published: 2009-08-24

Total Pages: 248

ISBN-13: 9781439808672

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Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.

Algorithms, Complexity Analysis and VLSI Architectures for MPEG-4 Motion Estimation
Algorithms, Complexity Analysis and VLSI Architectures for MPEG-4 Motion Estimation

Author: Peter M. Kuhn

Publisher: Springer

Published: 2013-01-17

Total Pages: 240

ISBN-13: 9781475744750

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MPEG-4 is the multimedia standard for combining interactivity, natural and synthetic digital video, audio and computer-graphics. Typical applications are: internet, video conferencing, mobile videophones, multimedia cooperative work, teleteaching and games. With MPEG-4 the next step from block-based video (ISO/IEC MPEG-1, MPEG-2, CCITT H.261, ITU-T H.263) to arbitrarily-shaped visual objects is taken. This significant step demands a new methodology for system analysis and design to meet the considerably higher flexibility of MPEG-4. Motion estimation is a central part of MPEG-1/2/4 and H.261/H.263 video compression standards and has attracted much attention in research and industry, for the following reasons: it is computationally the most demanding algorithm of a video encoder (about 60-80% of the total computation time), it has a high impact on the visual quality of a video encoder, and it is not standardized, thus being open to competition. Algorithms, Complexity Analysis, and VLSI Architectures for MPEG-4 Motion Estimation covers in detail every single step in the design of a MPEG-1/2/4 or H.261/H.263 compliant video encoder: Fast motion estimation algorithms Complexity analysis tools Detailed complexity analysis of a software implementation of MPEG-4 video Complexity and visual quality analysis of fast motion estimation algorithms within MPEG-4 Design space on motion estimation VLSI architectures Detailed VLSI design examples of (1) a high throughput and (2) a low-power MPEG-4 motion estimator. Algorithms, Complexity Analysis and VLSI Architectures for MPEG-4 Motion Estimation is an important introduction to numerous algorithmic, architectural and system design aspects of the multimedia standard MPEG-4. As such, all researchers, students and practitioners working in image processing, video coding or system and VLSI design will find this book of interest.

Complexity and the Arrow of Time
Complexity and the Arrow of Time

Author: Charles H. Lineweaver

Publisher: Cambridge University Press

Published: 2013-08-08

Total Pages: 371

ISBN-13: 110702725X

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Written by a wide range of experts, this work presents cosmological, biological and philosophical perspectives on complexity in our universe.

Computational Mind: A Complex Dynamics Perspective
Computational Mind: A Complex Dynamics Perspective

Author: Vladimir G. Ivancevic

Publisher: Springer Science & Business Media

Published: 2007-06-12

Total Pages: 698

ISBN-13: 3540714650

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This is a graduate–level monographic textbook in the field of Computational Intelligence. It presents a modern dynamical theory of the computational mind, combining cognitive psychology, artificial and computational intelligence, and chaos theory with quantum consciousness and computation. The book introduces to human and computational mind, comparing and contrasting main themes of cognitive psychology, artificial and computational intelligence.

The Complexity of Dynamical Systems
The Complexity of Dynamical Systems

Author: Johan Dubbeldam

Publisher: John Wiley & Sons

Published: 2011-02-21

Total Pages: 261

ISBN-13: 3527409319

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Written by recognized experts, this edited book covers recent theoretical, experimental and applied issues in the growing fi eld of Complex Systems and Nonlinear Dynamics. It is divided into two parts, with the first section application based, incorporating the theory of bifurcation analysis, numerical computations of instabilities in dynamical systems and discussing experimental developments. The second part covers the broad category of statistical mechanics and dynamical systems. Several novel exciting theoretical and mathematical insights and their consequences are conveyed to the reader.