LEADER 04509nam 22007815 450 001 996466138603316 005 20200702041219.0 010 $a0-387-34784-4 024 7 $a10.1007/BFb0039640 035 $a(CKB)1000000000548818 035 $a(SSID)ssj0000322964 035 $a(PQKBManifestationID)11277780 035 $a(PQKBTitleCode)TC0000322964 035 $a(PQKBWorkID)10296565 035 $a(PQKB)11221320 035 $a(DE-He213)978-0-387-34784-4 035 $a(PPN)155203320 035 $a(EXLCZ)991000000000548818 100 $a20121227d1989 u| 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt 182 $cc 183 $acr 200 10$aError Detection and Recovery in Robotics$b[electronic resource] /$fby Bruce R. Donald 205 $a1st ed. 1989. 210 1$aNew York, NY :$cSpringer New York :$cImprint: Springer,$d1989. 215 $a1 online resource (XXIV, 315 p. 94 illus.) 225 1 $aLecture Notes in Computer Science,$x0302-9743 ;$v336 300 $aBibliographic Level Mode of Issuance: Monograph 311 $a0-387-96909-8 327 $aBasic Issues in Error Detection and Recovery -- Multi-Step Strategies -- Planning Sensing and Motion for a Mobile Robot -- Implementation, Computational Issues -- Conclusions. 330 $aRobotics is the science that attempts to forge an intelligent, computational connection between perception and action. Perhaps the most fundamental problems in robotics today are uncertainty and error in control, sensing, and modelling. In this monograph the author provides what is perhaps the first systematic treatment of the uncertainty problem. This book descibes the theory he developed for planning compliant motions for tasks such as robotic assembly. The planner can synthesize robot control programs that are robust in the face of uncertainty in the control system, the robot sensors, and variation in the geometry of the assembly. Perhaps the deepest contribution lies in a new theory of Error Detection and Recovery (EDR). While EDR is largely motivated by the problem of uncertainty its applicability may be quite broad. EDR has been a persistent but ill-defined theme in AI and robotics research. The author gives a constructive, geometric definition for EDR strategies, and shows how they may be computed. This theory represents an elegant mathematical attack on the problem of error detection and recovery based on geometric and physical reasoning. Finally, algorithms for the automatic synthesis of EDR strategies are described, and new results on their computational complexity are analyzed. 410 0$aLecture Notes in Computer Science,$x0302-9743 ;$v336 606 $aRobotics 606 $aAutomation 606 $aComputer-aided engineering 606 $aArtificial intelligence 606 $aComputer graphics 606 $aOptical data processing 606 $aControl engineering 606 $aMechatronics 606 $aRobotics and Automation$3https://scigraph.springernature.com/ontologies/product-market-codes/T19020 606 $aComputer-Aided Engineering (CAD, CAE) and Design$3https://scigraph.springernature.com/ontologies/product-market-codes/I23044 606 $aArtificial Intelligence$3https://scigraph.springernature.com/ontologies/product-market-codes/I21000 606 $aComputer Graphics$3https://scigraph.springernature.com/ontologies/product-market-codes/I22013 606 $aImage Processing and Computer Vision$3https://scigraph.springernature.com/ontologies/product-market-codes/I22021 606 $aControl, Robotics, Mechatronics$3https://scigraph.springernature.com/ontologies/product-market-codes/T19000 615 0$aRobotics. 615 0$aAutomation. 615 0$aComputer-aided engineering. 615 0$aArtificial intelligence. 615 0$aComputer graphics. 615 0$aOptical data processing. 615 0$aControl engineering. 615 0$aMechatronics. 615 14$aRobotics and Automation. 615 24$aComputer-Aided Engineering (CAD, CAE) and Design. 615 24$aArtificial Intelligence. 615 24$aComputer Graphics. 615 24$aImage Processing and Computer Vision. 615 24$aControl, Robotics, Mechatronics. 676 $a629.8/92 700 $aDonald$b Bruce R$4aut$4http://id.loc.gov/vocabulary/relators/aut$054945 906 $aBOOK 912 $a996466138603316 996 $aError detection and recovery in robotics$9344435 997 $aUNISA LEADER 00991nas 2200385 c 450 001 9910894618203321 005 20221102113701.0 035 $a(CKB)3790000000118083 035 $a(DE-599)ZDB2485767-1 035 $a(OCoLC)643933738 035 $a(DE-101)993251749 035 $a(EXLCZ)993790000000118083 100 $a20090318b18171818 |y | 101 0 $ager 135 $aur||||||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 00$aNeuer rheinischer Merkur$fhrsg. v. 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