Field And Service Robotics

by Corke, Peter; Sukkarieh, Salah

• ISBN13: 9783540334521
• ISBN10: 3540334521
• Format: Hardcover
• Copyright: 2006-09-15
• Publisher: Springer-Verlag New York Inc

Summary

The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience.Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots.This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.

Table of Contents

Part 1 Keynotes
Container Port Automation	3	(6)
Graeme Nelmes
The Berkeley Lower Extremity Exoskeleton	9	(10)
H. Kazerooni
Part 2 Outdoor Vision
Autonomous Helicopter Tracking and Localization Using a Self-Surveying Camera Array	19	(12)
Masayoshi Matsuoka, Alan Chen, Surya P.N. Singh, Adam Coates, Andrew Y. Ng, Sebastian Thrun
Visual Motion Estimation for an Autonomous Underwater Reef Monitoring Robot	31	(12)
Matthew Dunbabin, Kane Usher, Peter Corke
Road Obstacle Detection Using Robust Model Fitting	43	(12)
Niloofar Gheissari, Nick Barnes
Real-Time Regular Polygonal Sign Detection	55	(12)
Nick Barnes, Gareth Loy
Distinctness Analysis on Natural Landmark Descriptors	67	(12)
Kai-Ming Kiang, Richard Willgoss, Alan Blair
Bimodal Active Stereo Vision	79	(14)
Andrew Dankers, Nick Barnes, Alex Zelinsky
Part 3 Navigation
A System for Automatic Marking of Floors in Very Large Spaces	93	(12)
Patric Jensfelt, Gunnar Gullstrand, Erik Förell
Development of an Angular Characterization System for Cooperative UAV/UGV Applications	105	(12)
Paul Thompson, Salah Sukkarieh
Topological Global Localization for Subterranean Voids	117	(12)
David Silver, Joseph Carsten, Scott Thayer
A Navigation System for Automated Loaders in Underground Mines	129	(14)
Johan Larsson, Mathias Broxvall, Alessandro Saffiotti
Part 4 Mapping and Localization
Outdoor Simultaneous Localisation and Mapping Using RatSLAM	143	(12)
David Prasser, Michael Milford, Gordon Wyeth
Implementation Issues and Experimental Evaluation of D-SLAM	155	(12)
Zhan Wang, Shoudong Huang, Gamini Dissanayake
Scan-SLAM: Combining EKF-SLAM and Scan Correlation	167	(12)
Juan Nieto, Tim Bailey, Eduardo Nebot
A Non-rigid Approach to Scan Alignment and Change Detection Using Range Sensor Data	179	(16)
Ralf Kaestner, Sebastian Thrun, Michael Montemerlo, Matt Whalley
An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping	195	(12)
Patrick Pfaff, Wolfram Burgard
Online Reconstruction of Vehicles in a Car Park	207	(12)
Christopher Tay Meng Keat, Cédric Pradalier, Christian Laugier
Wavelet Occupancy Grids: A Method for Compact Map Building	219	(12)
Manuel Yguel, Olivier Aycard, Christian Laugier
Further Results with Localization and Mapping Using Range from Radio	231	(12)
Joseph Djugash, Sanjiv Singh, Peter Corke
Experiments with Robots and Sensor Networks for Mapping and Navigation	243	(14)
Keith Kotay, Ron Peterson. Danielo Rus
Part 5 Planning
Applying a New Model for Machine Perception and Reasoning in Unstructured Environments	257	(12)
Richard Grover, Steve Scheding, Ross Hennessy, Suresh Kumar, Hugh Durrant-Whyte
Constrained Motion Planning in Discrete State Spaces	269	(12)
Mihail Pivtoraiko, Alonzo Kelly
Vision-Based Grasping Points Determination by Multffingered Hands	281	(12)
Madjid Boudaba, Alicia Casals, Dirk Osswald, Heinz Woern
Embodied Social Interaction for Service Robots in Hallway Environments	293	(12)
Elena Paechierotti, Henrik I. Christensen, Patric Jensfelt
Intentional Motion Online Learning and Prediction	305	(14)
Dizan Vasquez, Thierry Fraichard, Olivier Aycard, Christian Laugier
Part 6 Design
Design and Locomotion of a Semi-passive Mobile Platform	319	(12)
Amir Shapiro, Shraga Shoval
Wheel Control Based on Body Configuration for Step-Climbing Vehicle	331	(12)
Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, Taketoshi Mishima
Ball-Shaped Robots: An Historical Overview and Recent Developments at TKK	343	(12)
Jussi Suomela, Tomi Ylikorpi
Development of a Water-Hydraulic Self-Propelled Robotic Drill for Underground Mining	355	(12)
Michael N. Wendt, Garry A. Einicke
A Wearable GUI for Field Robots	367	(10)
Andreas Hedström, Henrik I. Christensen, Carl Lundberg
Design and Implementation of Machine Control Systems with Modern Software Development Tools	377	(12)
Matti Öhman, Arto Visala
Long-Term Activities for Autonomous Mobile Robot — Autonomous Insertion of a Plug into Real Electric Outlet by a Mobile Manipulator	389	(14)
Tomofumi Yamada, Keiji Nagatani, Yutaka Tanaka
Part 7 Telepresence
Synthesized Scene Recollection for Robot Teleoperation	403	(12)
Naoji Shiroma, Hirokazu Nagai, Maki Sugimoto, Masahiko Inami, Fumitoshi Matsuno
Development of a Networked Robotic System for Disaster Mitigation — Test Bed Experiments for Remote Operation over Rough Terrain and High Resolution 3D Geometry Acquisition	415	(14)
Kazuya Yoshida, Keiji Nagatani, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Hiroyuki Tanaka, Hiroyuki Ohno
Part 8 Aerial Robots
Towards Intelligent Miniature Flying Robots	429	(12)
Samir Bouabdallah, Roland Siegwart
Design of an Ultra-lightweight Autonomous Solar Airplane for Continuous Flight	441	(12)
André Noth, Walter Engel, Roland Siegwart
Control and Guidance for a Tail-Sitter Unmanned Air Vehicle	453	(12)
R. Hugh Stone
The Development of a Real-Time Modular Architecture for the Control of UAV Teams	465	(14)
David T. Cole, Salah Sukkarieh, Ali Haydar Göktogan, Hugh Stone, Rhys Hardwick-Jones
Part 9 Off-Road
Trajectory Generation on Rough Terrain Considering Actuator Dynamics	479	(12)
Thomas M. Howard, Alonzo Kelly
Results in Combined Route Traversal and Collision Avoidance	491	(14)
Stephan Roth, Bradley Hamner, Sanjiv Singh, Myung Hwangbo
Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle	505	(12)
Shogo Okamoto, Kaoru Konishi, Kenichi Tokuda, Satoshi Tadokoro
Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification	517	(12)
S. Hutangkabodee, Y.H. Zweiri, L.D. Seneviratne, K. Althoefer
3D Position Tracking in Challenging Terrain	529	(12)
Pierre Lamon, Roland Siegwart
Efficient Braking Model for Off-Road Mobile Robots	541	(14)
Mihail Pivtoraiko, Alonzo Kelly, Peter Rander
Part 10 Applications
Autonomous Excavation Using a Rope Shovel	555	(12)
Matthew Dunbabin, Peter Corke
Automated Inspection System for Large Underground Concrete Pipes Under Operating Conditions	567	(12)
Norbert Elkmann, Bert Reimann, Erik Schulenburg, Heiko Althoff
An Autonomous Weeding Robot for Organic Farming	579	(12)
Tijmen Bakker, Kees van Asselt, Jan Bontsema, Joachim Müller, Gerrit van Straten
V Shape Path Generation for Loading Operation by Wheel Loader	591	(12)
Shigeru Sarata, Yossewee Weeramhaeng, Akira Horiguchi, Takashi Tsubouchi
Development of an Autonomous Forest Machine for Path Tracking	603	(12)
Thomas Hellström, Thomas Johansson, Ola Ringdahl
Author Index	615