Principles of robot motion : theory, algorithms, and implementation /
Howie Choset ... [et al.].
- xix, 603 p. : ill. ; 24 cm.
- Intelligent robotics and autonomous agents. .
"A Bradford book."
1. Introduction -- 2. Bug algorithms -- 3. Configuration space -- 4. Potential functions -- 5. Roadmaps -- 6. Cell decompositions -- 7. Sampling-based algorithms -- 8. Kalman filtering -- 9. Bayesian methods -- 10. Robot dynamics -- 11. Trajectory planning -- 12. Nonholonomic and underactuated systems -- A. Mathematical notation -- B. Basic set definitions -- C. Topology and metric spaces -- D. Curve tracing -- E. Representations of orientation -- F. Polyhedral robots in polyhedral worlds -- G. Analysis of algorithms and complexity classes -- H. Graph representation and basic search -- I. Statistics primer -- J. Linear systems and control.