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Error detection and recovery in robotics

Gespeichert in:
Bibliographische Angaben
Autor:in: Donald, Bruce R., (VerfasserIn)
Sprache: Englisch
Veröffentlicht:Berlin [u.a.] : Springer, 1989
Schriftenreihe:Lecture notes in computer science ; ZDB-ID: 2018930-8 ; 336
Umfang:Online-Ressource (XXIV, 314 S.)
Hochschulschrift:Zugl.: Cambridge, Mass., Mass. Inst. of Technology, Diss., 1987
Gedruckte Ausgabe:Druckausg.: Donald, Bruce R. : Error detection and recovery in robotics. - Berlin : Springer, 1989. - XXIV, 314 S.
ISBN:9780387347844
0387347844
0387969098
9780387969091
3540969098
9783540969099
Anmerkungen:Literaturverz. S. [277] - 285
Schlagwörter:
Industrieroboter
Fehlererkennung
Fehlerbehandlung
Robots > Error detection and recovery
Computer science
Computer aided design
Engineering economy
Artificial intelligence
Computer graphics
Computer vision
Computer-aided engineering.
Control engineering.
Robotics.
Automation.
Automation and Robotics
Computer Science
Computer Graphics
Artificial Intelligence (incl. Robotics)
Engineering Economics, Organization, Logistics, Marketing
Computer-Aided Engineering (CAD, CAE) and Design
Image Processing and Computer Vision
Hochschulschrift
Basisklassifikation:

50.25 Robotertechnik

DOI:

10.1007/BFb0039640

Sekundärausgabe:Online-Ausg.
Veröffentlichungsangabe:New York : Springer, 2006
Gesamttitel:Springer lecture notes archive
Zusammenfassung:Basic Issues in Error Detection and Recovery -- Multi-Step Strategies -- Planning Sensing and Motion for a Mobile Robot -- Implementation, Computational Issues -- Conclusions.
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.