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A basic motion planning problem is to compute a continuous path that connects a start configuration S and a goal configuration G, while avoiding collision with known obstacles. The robot and obstacle geometry is described in a 2D or 3D workspace , while the motion is represented as a path in (possibly higher-dimensional) configuration space .
A process is a program in execution, and an integral part of any modern-day operating system (OS). The OS must allocate resources to processes, enable processes to share and exchange information, protect the resources of each process from other processes and enable synchronization among processes.
Depending on the configuration, open-chain robotic manipulators require a degree of trajectory optimization. For instance, a robotic arm with 7 joints and 7 links (7-DOF) is a redundant system where one cartesian position of an end-effector can correspond to an infinite number of joint angle positions, thus this redundancy can be used to optimize a trajectory to, for example, avoid any ...
Real-Time Path Planning is a term used in robotics that consists of motion planning methods that can adapt to real time changes in the environment. This includes everything from primitive algorithms that stop a robot when it approaches an obstacle to more complex algorithms that continuously takes in information from the surroundings and creates a plan to avoid obstacles.
A reference model architecture is a canonical form, not a system design specification. The RCS reference model architecture combines real-time motion planning and control with high level task planning, problem solving, world modeling, recursive state estimation, tactile and visual image processing, and acoustic signature analysis.
A process control block (PCB), also sometimes called a process descriptor, is a data structure used by a computer operating system to store all the information about a process. When a process is created (initialized or installed), the operating system creates a corresponding process control block, which specifies and tracks the process state (i ...
The operating system holds most of this information about active processes in data structures called process control blocks. Any subset of the resources, typically at least the processor state, may be associated with each of the process' threads in operating systems that support threads or child processes.
The operating system provides an interface between an application program and the computer hardware, so that an application program can interact with the hardware only by obeying rules and procedures programmed into the operating system. The operating system is also a set of services which simplify development and execution of application programs.