Algorithmic Foundations of Robotics VIMichael Erdmann, David Hsu, Mark Overmars, A. Frank van der Stappen Robot algorithms are abstractions of computational processes that control or reason about motion and perception in the physical world. Because actions in the physical world are subject to physical laws and geometric constraints, the design and analysis of robot algorithms raise a unique combination of questions in control theory, computational and differential geometry, and computer science. Algorithms serve as a unifying theme in the multi-disciplinary field of robotics. This volume consists of selected contributions to the sixth Workshop on the Algorithmic Foundations of Robotics. This is a highly competitive meeting of experts in the field of algorithmic issues related to robotics and automation. |
Contents
Algorithmic Challenges in Structural Molecular Biology and Proteomics | 1 |
Ten Years of Experiments | 11 |
Algorithmic Foundation of the Clockwork Orange Robot Soccer Team | 17 |
Uniform Coverage of Simple Surfaces Embedded in IR3 for AutoBody Painting | 27 |
Stealth Tracking of an Unpredictable Target among Obstacles | 43 |
MultiStep Motion Planning for FreeClimbing Robots | 59 |
SamplingBased Motion Planning under Kinematic LoopClosure Constraints | 75 |
Composing Navigation Functions on Cartesian Products of Manifolds with Boundary | 91 |
Topological Mapping with SensingLimited Robots | 235 |
Locating and Capturing an Evader in a Polygonal Environment | 251 |
SemiDifferential Invariants for Recognition of Algebraic Curves | 267 |
Modeling Macromolecular Machines Using RigidCluster Networks | 283 |
Fast TreeBased Exploration of State Space for Robots with Dynamics | 297 |
Incremental Grid Sampling Strategies in Robotics | 313 |
Toward Complete Path Planning for Planar 3RManipulators Among Point Obstacles | 329 |
The Missing Fragment Problem | 345 |
Adaptive RRTs for Validating Hybrid Robotic Control Systems | 107 |
Collision Free Motion Planning on Graphs | 123 |
Online Searching with an Autonomous Robot | 139 |
Competitive Complexity of Mobile Robot On Line Motion Planning Problems | 155 |
Pareto Optimal Coordination on Roadmaps | 171 |
Automatic Generation of Camera Motion to Track a Moving Guide | 187 |
Computing Deform Closure Grasps | 203 |
Coordinating Multiple Droplets in Planar Array Digital Microfluidics Systems | 219 |
A Machine Learning Approach for FeatureSensitive Motion Planning | 361 |
Protein Backbone Motion by Inverse Kinematics | 377 |
Randomized Algorithms for Minimum Distance Localization | 393 |
MultiPoint Contact Models for Dynamic SelfRighting of a Hexapod | 409 |
Minimal Representation for Visibilitybased Tasks | 425 |
A Simple Algorithm for Complete Motion Planning of Translating Polyhedral Robots | 441 |
Other editions - View all
Algorithmic Foundations of Robotics VI Michael Erdmann,David Hsu,Mark Overmars,A. Frank van der Stappen No preview available - 2009 |
Algorithmic Foundations of Robotics VI Michael Erdmann,David Hsu,Mark Overmars,A. Frank van der Stappen No preview available - 2010 |
Algorithmic Foundations of Robotics VI Michael Erdmann,David Hsu,Mark Overmars,A. Frank van der Stappen No preview available - 2005 |
Common terms and phrases
Algorithmic Foundations angle applied approach ATP synthase bitangent bound C-space camera Cartesian product cell closure collision complexity component compute Conf configuration space connected connectivity graph constraints coordination corresponding coverage curve defined denote dihedral angles distance droplets edges environment evader feasible Figure Foundations of Robotics function geometric goal graph grid IEEE index width initial input intersection invariant inverse kinematics kinematic chains Latombe length loop manifold manipulation method Minkowski sums mobile robot motion planner motion planning motion planning algorithm move navigation nodes obstacles offset curve optimal p₁ paint deposition parameters Pareto optimal path planning performance planar polygon position probabilistic roadmap problem Proc protein pursuer pursuit-evasion random points rigid-cluster RMSD Robotics and Automation sampling sensor sequence simulation solution strategy structure surface target techniques Theorem topological tracker trajectory tree vector vertex vertices visibility region WAFR