Motion Planning in Dynamic Environments - Fujimura, Kikuo

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Résumé :
This is the first book to be published on robot motion planning in dynamic domains. Algorithms are presented for generating motion in an environment that changes over time and their computational costs are analyzed. The ability to plan motion in a dynamic domain is of critical importance to an autonomous robotic system that must operate in the presence of moving obstacles or other robots. The most important feature of the book is the presentation of algorithmic solutions to geometric aspects of dynamic motion planning problems which are of fundamental importance in robotics. Topics discussed include planning in time-dependent environments, generation of time-minimal paths in three dimensions, and coordination of multiple mobile agents. The book can serve as a reference for those working on spatial reasoning and autonomous robotic systems.

Sommaire:
1 Introduction.- 1.1 Dynamic environments.- 1.2 Statement of the problem.- 1.3 Scope of the monograph.- 2 Background.- 2.1 Stationary obstacles.- 2.2 Dynamic obstacles.- 2.3 Summary.- 3 Time-Minimal Motion: Basics.- 3.1 Introduction.- 3.2 Accessibility graphs.- 3.3 Planning and motion.- 3.4 Time-minimal motion theorem.- 3.5 Analysis.- 3.6 Discussions.- 3.7 Summary.- 4 Time-Minimal Motion: Applications.- 4.1 Concave obstacles.- 4.2 Convex obstacles.- 4.3 Start point and destination point.- 4.4 Piecewise linear motion of the obstacles.- 4.5 Nonlinear motion of the obstacles.- 4.6 Splitting and merging obstacles.- 4.7 Heuristics in dynamic domains.- 4.8 Unexpected obstacles.- 4.9 Summary.- 5 Time-Minimal Motion: Generalizations.- 5.1 Transient obstacles.- 5.2 Moving obstacles in three dimensions.- 5.3 Summary.- 6 Constrained Motion.- 6.1 Constraints on the motion of the robot.- 6.2 Space representation.- 6.3 Path search.- 6.4 Simulation results.- 6.5 Summary.- 7 Multiple Mobile Agents.- 7.1 Distributed approaches.- 7.2 Mobile agents.- 7.3 Simulation results.- 7.4 Summary.- 8 Conclusions.- 8.1 Summary.- 8.2 Open problems.- References.