| 书目名称 | Error Detection and Recovery in Robotics |
| 编辑 | Bruce R. Donald |
| 视频video | |
| 丛书名称 | Lecture Notes in Computer Science |
| 图书封面 |  |
| 描述 | 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 automat |
| 出版日期 | Book 1989 |
| 关键词 | algorithms; complexity; mobile robot; robot; robotics; robotics research; sensing |
| 版次 | 1 |
| doi | https://doi.org/10.1007/BFb0039640 |
| isbn_softcover | 978-0-387-96909-1 |
| isbn_ebook | 978-0-387-34784-4Series ISSN 0302-9743 Series E-ISSN 1611-3349 |
| issn_series | 0302-9743 |
| copyright | Springer-Verlag Berlin Heidelberg 1989 |
发表于 2025-3-21 19:13:44
