Chapter 15 – Planning and robotics

15.1  Overview

15.2  Introduction

15.2.1  Friend or Foe?

15.2.2  Different Kinds of Robots

15.3  Global Planning

15.3.1  Planning Actions -- Means--Ends Analysis

15.3.2  Planning Routes -- Configuration Spaces

15.4  Local Planning

15.4.1  Local Planning and Obstacle Avoidance

15.4.2  Finding Out about the World

15.5  Limbs, Legs and Eyes

15.5.1  Limb Control

15.5.2  Walking -- On One, Two or More Legs

15.5.3  Active Vision

15.6  Practical Robotics

15.6.1  Controlling the Environment

15.6.2  Safety and Hierarchical Control

15.7  Summary

A* algorithm, accuracy, active vision, agents, ambiguous image, aperture, artificial life, Asimov, Isaac, autonomous car, autonomous vehicle, backtracking, backward reasoning, branching factor, breadth first search, camera!aperture, camera!focus, camera!zoom, closed-loop control, compliant motion, computer vision, configuration space, constraints, current state representation, cyclotorsion, Daleks, degrees of freedom (robotics), depth of field, depth perception, disambiguation, divide and conquer, edge detection, epistemic action, equilibrium, exploration-exploitation trade-off, feedback, figure-ground separation, fixation point, focus, forward reasoning, Frankenstein, global feedback, global planning, goal state, ground truth, HAL 9000, heuristic evaluation function, heuristic search, historical representation, home automation, homeostasis, industrial robotics, knowledge-rich search, laws of robotics, limb control, linear planning, Lisp, local feedback, local planning, means–ends analysis, monocular vision, moving obstacles, neural network, non-linear planning, obstacle avoidance, open-loop control, pressure feedback, pruning, reactive movement, reasoning with uncertainty, robotics!feedback, robotics!memory, robotics!military, robotics!practical, robotics!safety, robotics!sensing, rote learning, route planning, sensor accuracy, Shelley, Mary, SHRDLU, soft-robotics, software ring-fence, sonar, state space search, stereo vision, Towers of Hanoi, uncertainty, vergence, zoom