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Hierarchical Planning Involving Deadlines Travel Time and Resources
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action active actuated algorithm applied approach architecture Artificial Intelligence autonomous mobile robot autonomous robot autonomous vehicle behavior blackboard camera Carnegie Mellon University components computer vision Conf constraints control system coordinate system database described detection determined developed dynamic edge environment equations error example execution feedback Figure FORBIN function gait goal IEEE implemented input Jacobian matrix kinematic locomotion machine manipulator matrix mechanism method module monitoring motion moving navigation node nonroad object obstacle avoidance operation parameters path planning pattern perception performed pixels planner position problem Proc processor range real-time representation road robot system Robotics and Automation Robotics Institute rover schema Section segments sensing sequence simulation solution sonar space specific speed stereo stereo vision structure subsystems task temporal database terrain tion trajectory transformation variables vector vision system wheel velocities world model