001472200 000__ 05287cam\\22006377i\4500
001472200 001__ 1472200
001472200 003__ OCoLC
001472200 005__ 20230908003400.0
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001472200 008__ 230802s2023\\\\sz\a\\\\o\\\\\000\0\eng\d
001472200 019__ $$a1391433352$$a1391443167
001472200 020__ $$a9783031291524$$q(electronic bk.)
001472200 020__ $$a3031291522$$q(electronic bk.)
001472200 020__ $$z9783031291517
001472200 020__ $$z3031291514
001472200 0247_ $$a10.1007/978-3-031-29152-4$$2doi
001472200 035__ $$aSP(OCoLC)1391978473
001472200 040__ $$aGW5XE$$beng$$erda$$epn$$cGW5XE$$dEBLCP$$dYDX$$dOCLCQ
001472200 0411_ $$aeng$$beng$$bdut
001472200 049__ $$aISEA
001472200 050_4 $$aTJ211.35
001472200 08204 $$a629.8/92$$223/eng/20230802
001472200 1001_ $$aYao, Weijia,$$d1992-$$eauthor.
001472200 24510 $$aGuiding vector fields for robot motion control /$$cWeijia Yao.
001472200 264_1 $$aCham, Switzerland :$$bSpringer,$$c2023.
001472200 300__ $$a1 online resource (xxx, 255 pages) :$$billustrations (some color).
001472200 336__ $$atext$$btxt$$2rdacontent
001472200 337__ $$acomputer$$bc$$2rdamedia
001472200 338__ $$aonline resource$$bcr$$2rdacarrier
001472200 4901_ $$aSpringer tracts in advanced robotics,$$x1610-742X ;$$vvolume 154
001472200 5050_ $$aIntroduction -- Preliminaries -- Part I Theoretical foundation: Vanishing level value and convergence to zero-level set -- Path following control in 3d using a vector field -- Topological analysis of vector-field guided path following on manifolds -- The domain of attraction of the desired path in vector-field guided path following -- Refined dichotomy convergence in vector-field guided path-following on Rn -- Part II Applications with formal guarantees: Guiding vector fields for following occluded paths -- A singularity-free guiding vector field for robot navigation -- Guiding vector fields for multi-robot coordinated navigation -- Conclusions and future research -- III Appendix.
001472200 506__ $$aAccess limited to authorized users.
001472200 520__ $$aUsing a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks. The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination. In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as: How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks? Do singular points always exist in a general guiding vector field? How to generate a guiding vector field that is free of singular points? How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination? Answering these questions has led to the discovery of fundamental assumptions, a "topological surgery" to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc.
001472200 546__ $$aSummaries in English and Dutch.
001472200 588__ $$aOnline resource; title from PDF title page (SpringerLink, viewed August 1, 2023).
001472200 650_0 $$aRobots$$xControl systems.
001472200 650_0 $$aRobots$$xMotion.
001472200 650_0 $$aVector fields.
001472200 655_0 $$aElectronic books.
001472200 77608 $$iPrint version:$$aYao, Weijia$$tGuiding Vector Fields for Robot Motion Control$$dCham : Springer,c2023$$z9783031291517
001472200 830_0 $$aSpringer tracts in advanced robotics ;$$vv. 154.$$x1610-742X
001472200 852__ $$bebk
001472200 85640 $$3Springer Nature$$uhttps://univsouthin.idm.oclc.org/login?url=https://link.springer.com/10.1007/978-3-031-29152-4$$zOnline Access$$91397441.1
001472200 909CO $$ooai:library.usi.edu:1472200$$pGLOBAL_SET
001472200 980__ $$aBIB
001472200 980__ $$aEBOOK
001472200 982__ $$aEbook
001472200 983__ $$aOnline
001472200 994__ $$a92$$bISE