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Robot Cognition and Navigation: An Experiment with Mobile Robots

Srikanta Patnaik

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Institución detectada Año de publicación Navegá Descargá Solicitá
No detectada 2007 SpringerLink

Información

Tipo de recurso:

libros

ISBN impreso

978-3-540-23446-3

ISBN electrónico

978-3-540-68916-4

Editor responsable

Springer Nature

País de edición

Reino Unido

Fecha de publicación

Información sobre derechos de publicación

© Springer 2007

Tabla de contenidos

Cybernetic View of Robot Cognition and Perception

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 1-20

Map Building

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 21-38

Path Planning

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 39-58

Navigation Using a Genetic Algorithm

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 59-76

Robot Programming Packages

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 77-113

Robot Parameter Display

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 115-125

Program for BotSpeak

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 127-136

Gripper Control Program

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 137-150

Program for Sonar Reading Display

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 151-161

Program for Wandering Within the Workspace

Srikanta Patnaik

The main subject of this paper is the detailed description of an algorithm solving elastoplastic deformations. Our concern is a one time-step problem, for which the minimization of a convex but non-smooth functional is required. We propose a minimization algorithm based on the reduction of the functional to a quadratic functional in the displacement and the plastic strain increment omitting a certain nonlinear dependency. The algorithm also allows for an easy extension to higher order finite elements. A numerical example in 2D reports on first results for uniform h- and p- mesh refinements.

Pp. 163-173