Peter Corke
Robotics,
Vision
and
Control
123
FUNDAMENTAL
ALGORITHMS
IN MATLAB®
Springer Tracts in Advanced Robotics
Volume 73
Editors: Bruno Siciliano · Oussama Khatib
Robotics,
Vision and Control
Fundamental Algorithms in MATLAB®
Peter Corke
With 393 Images
Additional material is provided at www.petercorke.com/RVC
ISBN 978-3-642-20143-1 e-ISBN 978-3-642-20144-8
DOI 10.1007/978-3-642-20144-8
Springer Tracts in Advanced Robotics ISSN 1610-7438
Library of Congress Control Number: 2011934624
© Springer-Verlag Berlin Heidelberg, first edition 2011, corrected second printing 2013
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Professor Bruno Siciliano
Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II,
Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@unina.it
Professor Oussama Khatib
Artificial Intelligence Laboratory, Department of Computer Science,
Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@cs.stanford.edu
Author
Peter Corke
School of Electrical Engineering and Computer Science
Queensland University of Technology (QUT)
Brisbane QLD 4000
Australia
e-mail: rvc@petercorke.com
Editorial Advisory Board
Oliver Brock, TU Berlin, Germany
Herman Bruyninckx, KU Leuven, Belgium
Raja Chatila, LAAS, France
Henrik Christensen, Georgia Tech, USA
Peter Corke, Queensland Univ. Technology, Australia
Paolo Dario, Scuola S. Anna Pisa, Italy
Rüdiger Dillmann, Univ. Karlsruhe, Germany
Ken Goldberg, UC Berkeley, USA
John Hollerbach, Univ. Utah, USA
Makoto Kaneko, Osaka Univ., Japan
Lydia Kavraki, Rice Univ., USA
Vijay Kumar, Univ. Pennsylvania, USA
Sukhan Lee, Sungkyunkwan Univ., Korea
Frank Park, Seoul National Univ., Korea
Tim Salcudean, Univ. British Columbia, Canada
Roland Siegwart, ETH Zurich, Switzerland
Gaurav Sukhatme, Univ. Southern California, USA
Sebastian Thrun, Stanford Univ., USA
Yangsheng Xu, Chinese Univ. Hong Kong, PRC
Shin’ichi Yuta, Tsukuba Univ., Japan
STAR (Springer Tracts in Advanced Robotics) has been promoted un-
der the auspices of EURON (European Robotics Research Network)
