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Library of Congress Cataloging-in-Publication Data

Principles of robot motion : theory, algorithms, and implementation/Howie Choset [et al.].
p. cm. (Intelligent robotics and autonomous agents) "A Bradford book."
Includes bibliographical references and index.

(alk. paper)
1. Robots-Motion. I. Choset, Howie M. II. Series.
TJ211.4.P75 2004
629.8 ?92-dc22 2004044906

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To our families

Acknowledgments

WE FIRST and foremost want to thank our students, who were incredibly supportive of us when writing this book. We would like to thank the members of the Biorobotics/ Sensor Based Planning Lab at Carnegie Mellon, especially Ji Yeong Lee; the Laboratory for Intelligent Mechanical Systems at Northwestern; the robotics group in the Beckman Institute at the University of Illinois, Urbana Champaign; the Physical and Biological Computing Group at Rice, especially Andrew Ladd and Erion Plaku; the Lab for Autonomous Intelligent Systems at the University of...