Chapter 19. Robotics
Sven Koenig and Craig Tovey
This chapter gives a general introduction to search problems in robotics, including search problems that arise if a robot has incomplete knowledge of its environment or its location in the environment, as is the case for mapping, localization, and goal-directed navigation in unknown terrain. It also discusses different ways of discretizing continuous state spaces.
Keywords: agent-centered search, AND-OR (minimax) search, assumption-based search, conditional plans, configuration space, discretization, goal-directed navigation in unknown terrain, greedy localization, greedy mapping, greedy online search, incomplete knowledge, incremental heuristic search, motion planning, parti-game algorithm, ...