Robotics: Science and Systems IV

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Oliver Brock, Jeffrey C. Trinkle, Fabio Ramos
MIT Press, 2009 - Technology & Engineering - 317 pages
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Robotics: Science and Systems IV spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the fourth annual Robotics: Science and Systems conference, held in 2008 at the Swiss Federal Institute of Technology in Zurich. The papers presented cover a range of topics, including computer vision, mapping, terrain identification, distributed systems, localization, manipulation, collision avoidance, multibody dynamics, obstacle detection, microrobotic systems, pursuit-evasion, grasping and manipulation, tracking, spatial kinematics, machine learning, and sensor networks as well as such applications as autonomous driving and design of manipulators for use in functional-MRI. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

  

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Contents

MultiSensor Lane Finding in Urban Road Networks
1
Laser and Vision Based Outdoor Object Mapping
9
Fast Probabilistic Labeling of City Maps
17
Clustering Sensor Data for Terrain Identification using a Windowless Algorithm
25
Distributed Localization of Modular Robot Ensembles
33
Controlling Shapes of Ensembles of Robots of Finite Size with Nonholonomic Constraints
41
Stochastic Recruitment
49
Prior Data and Kernel Conditional Random Fields for Obstacle Detection
57
Structural Improvement Filtering Strategy for PRM
167
Model Based Vehicle Tracking for AutonomousDriving in Urban Environments
175
Improving Localization Robustness in Monocular SLAM Using a HighSpeed Camera
183
SimplexTree Based Kinematics of Foldable Objects as Multibody Systems Involving Loops
191
fMRICompatible Robotic Interfaces with Fluidic Actuation
199
Proofs and Experiments in Scalable NearOptimal Search by Multiple Robots
206
Planning Long DynamicallyFeasible Maneuvers for Autonomous Vehicles
214
FrictionInduced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate
222

SARSOP
65
Detection of Principal Directions in Unknown Environments for Autonomous Navigation
73
Approximation Schemes for TwoPlayer Pursuit Evasion Games with Visibility Constraints
81
A Numerically Robust LCP Solver for Simulating Articulated Rigid Bodies in Contact
89
Hybrid Motion Planning Using Minkowski Sums
97
Bridging the Gap of Abstraction for Probabilistic Decision Making on a MultiModal Service Robot
105
Adaptive Body Scheme Modelsfor Robust Robotic Manipulation
111
BearingOnly Control Laws For Balanced Circular Formations of Ground Robots
119
CPGbased Control of a Turtlelike Underwater Vehicle
127
HyPE
135
Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation
143
A Local Collision Avoidance Methodfor Nonstrictly Convex Polyhedra
151
BiSpace Planning
159
Metastable Walking on Stochastically Rough Terrain
230
Target Enumeration via Integration Over Planar Sensor Networks
238
Using Recognition to Guide a Robots Attention
246
Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation
254
High Performance Outdoor Navigation from Overhead Data using Imitation Learning
262
Classifying Dynamic Objects
270
Probabilistic Models of Object Geometry for Grasp Planning
278
Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic MicroRobot
286
SuperFlexible Skin Sensors Embedded on the Whole Body SelfOrganizing Based on Haptic Interactions
294
NanoNewton Force Sensing and Control in Microrobotic Cell Manipulation
302
Gas Distribution Modeling using Sparse Gaussian Process Mixture Models
310
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About the author (2009)

Oliver Brock is Associate Professor of Computer Science at the University of Massachusetts, Amherst. Jeff Trinkle is Professor in the Department of Computer Science at Rensselaer Polytechnic Institute. Fabio Ramos is ARC Research Fellow at the Australian Centre for Field Robotics at the University of Sydney.

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