Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics

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Srinivas Akella, Nancy M. Amato, Wesley Huang, Bud Mishra
Springer Science & Business Media, Jul 10, 2008 - Technology & Engineering - 526 pages
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Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science.

This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of Robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.

 

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Contents

Quantitative Analysis of NearestNeighbors Search in HighDimensional SamplingBased Motion Planning
3
Path Deformation Roadmaps
19
An Adaptive Sampling Strategy for PRM Planning
35
Incremental Map Generation IMG
52
Caging Polygons with Two and Three Fingers
71
An Effective Framework for Path Planning Amidst Movable Obstacles
87
Planning the Shortest Safe Path Amidst Unpredictably Moving Obstacles
103
Planning Among Movable Obstacles with Artificial Constraints
119
A RegionSensitive Adaptive Motion Planner
285
Motion Planning for a SixLegged Lunar Robot
301
ConstantCurvature Motion Planning Under Uncertainty with Applications in ImageGuided Medical Needle Steering
319
Structure Determination of Symmetric Protein Complexes by a Complete Search of Symmetry Configuration Space Using NMR Distance Restraints
335
The MinimumTime Trajectories for an OmniDirectional Vehicle
342
Mechanical Manipulation Using Reduced Models of Uncertainty
359
Motion Planning for Variable Inertia Mechanical Systems
375
SamplingBased Falsification and Verification of Controllers for Continuous Dynamic Systems
391

Inferring and Enforcing Relative Constraints in SLAM
139
SecondOrder Theory of Error Propagation on Motion Groups
155
Extensive Representations and Algorithms for Nonlinear Filtering and Estimation
169
An Experimental Study of Weighted kLink Shortest Path Algorithms
186
LowDiscrepancy Curves and Efficient Coverage of Space
203
The Snowblower Problem
219
Stratified Deformation Space and Path Planning for a Planar Closed Chain with Revolute Joints
235
Competitive Disconnection Detection in OnLine Mobile Robot Navigation
253
A Simple Path Nonexistence Algorithm Using CObstacle Query
268
Surrounding Nodes in CoordinateFree Networks
409
Passive Mobile Robot Localization within a Fixed Beacon Field
425
Efficient Motion Planning Strategies for LargeScale Sensor Networks
441
Asymptotically Optimal Kinodynamic Motion Planning for Selfreconfigurable Robots
457
VisibilityBased PursuitEvasion with Bounded Speed
474
Planning NearOptimal Corridors Amidst Obstacles
491
Using Motion Primitives in Probabilistic SampleBased Planning for Humanoid Robots
507
Author Index
523
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