Skip to main content
SpringerLink
Log in

Error Detection and Recovery in Robotics

  • Book
  • © 1989

Overview

Authors:
  1. Bruce R. Donald
    View author publications

    You can also search for this author in PubMed   Google Scholar

Part of the book series: Lecture Notes in Computer Science (LNCS, volume 336)

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
Softcover Book USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (6 chapters)

  1. Front Matter

    Download chapter PDF

  2. Introduction

    Pages 1-30

  3. Basic Issues in Error Detection and Recovery

    Pages 31-106

  4. Multi-Step Strategies

    Pages 107-219

  5. Planning Sensing and Motion for a Mobile Robot

    Pages 220-233

  6. Implementation, Computational Issues

    Pages 234-250

  7. Conclusions

    Pages 251-256

  8. Back Matter

    Download chapter PDF
Back to top

Keywords

About this book

Robotics is the science that attempts to forge an intelligent, computational connection between perception and action. Perhaps the most fundamental problems in robotics today are uncertainty and error in control, sensing, and modelling. In this monograph the author provides what is perhaps the first systematic treatment of the uncertainty problem. This book descibes the theory he developed for planning compliant motions for tasks such as robotic assembly. The planner can synthesize robot control programs that are robust in the face of uncertainty in the control system, the robot sensors, and variation in the geometry of the assembly. Perhaps the deepest contribution lies in a new theory of Error Detection and Recovery (EDR). While EDR is largely motivated by the problem of uncertainty its applicability may be quite broad. EDR has been a persistent but ill-defined theme in AI and robotics research. The author gives a constructive, geometric definition for EDR strategies, and shows how they may be computed. This theory represents an elegant mathematical attack on the problem of error detection and recovery based on geometric and physical reasoning. Finally, algorithms for the automatic synthesis of EDR strategies are described, and new results on their computational complexity are analyzed.

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation