Description

goals in this book are as follows:
(a) Formulate the problem of sensor-based motion planning. We want to
explore why the relevant issues are so hard—so much so that in spite
of hard work and some glorious successes of robotics, there is no robot
today that can be left to its own devices, without supervision, outdoors
or in one’s home. Build a theoretical foundation for sensor-based motion
planning strategies.
(b) Study in depth a variety of particular algorithmic strategies for mobile
robots and robot arm manipulators, and try to identify promising directions
for conquering the general problem.
(c) Given the similarity of underlying tasks and requirements, compare robot
performance and human performance in sensor-based motion planning.
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The hope is that by doing so we can get a better insight into the nature
of the problem, and can help build synergistic human–robot teams for
tele-operation tasks.
(d) Review sensing hardware that is necessary to realize the SIM paradigm.