Robotics

by Brock, Oliver; Trinkle, Jeff; Ramos, Fabio

• ISBN13: 9780262513098
• ISBN10: 0262513099
• Format: Paperback
• Copyright: 2009-08-31
• Publisher: Mit Pr

Summary

Robotics: Science and Systems IVspans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the 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 the 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.

Table of Contents

Preface	p. viii
Organizing Committee	p. xii
Program Committee	p. xiii
Sponsors	p. xv
Multi-Sensor Lane Finding in Urban Road Networks	p. 1
Laser and Vision Based Outdoor Object Mapping	p. 9
Fast Probabilistic Labeling of City Maps	p. 17
Clustering Sensor Data for Terrain Identification using a Windowless Algorithm	p. 25
Distributed Localization of Modular Robot Ensembles	p. 33
Controlling Shapes of Ensembles of Robots of Finite Size with Nonholonomic Constraints	p. 41
Stochastic Recruitment: A Limited-Feedback Control Policy for Large Ensemble Systems	p. 49
Prior Data and Kernel Conditional Random Fields for Obstacle Detection	p. 57
SARSOP	p. 65
Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces
Detection of Principal Directions in Unknown Environments for Autonomous Navigation	p. 73
Approximation Schemes for Two-Player Pursuit Evasion Games with Visibility Constraints
A Numerically Robust LCP Solver for Simulating Articulated Rigid Bodies in Contact	p. 89
Hybrid Motion Planning Using Minkowski Sums	p. 97
Bridging the Gap of Abstraction for Probabilistic Decision Making on a Multi-Modal Service Robot	p. 105
Adaptive Body Scheme Models for Robust Robotic Manipulation	p. 111
Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots	p. 119
CPG-based Control of a Turtle-like Underwater Vehicle	p. 127
HyPE: Hybrid Particle-Element Approach for Recursive Bayesian Searching-and-Tracking
Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation	p. 143
A Local Collision Avoidance Method for Non-strictly Convex Polyhedra	p. 151
BiSpace Planning: Concurrent Multi-Space Exploration	p. 159
Structural Improvement Filtering Strategy for PRM	p. 167
Model Based Vehicle Tracking for Autonomous Driving in Urban Environments	p. 175
Improving Localization Robustness in Monocular SLAM Using a High-Speed Camera	p. 183
Simplex-Tree Based Kinematics of Foldable Objects as Multi-body Systems Involving Loops	p. 191
fMRI-Compatible Robotic Interfaces with Fluidic Actuation	p. 199
Proofs and Experiments in Scalable, Near-Optimal Search by Multiple Robots	p. 206
Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles	p. 214
Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate	p. 222
Metastable Walking on Stochastically Rough Terrain	p. 230
Target Enumeration via Integration Over Planar Sensor Networks	p. 238
Using Recognition to Guide a RobotÆs Attention	p. 246
Learning to Manipulate Articulated Objects in Unstructured Environments Using a Grounded Relational Representation	p. 254
High Performance Outdoor Navigation from Overhead Data using Imitation Learning	p. 262
Classifying Dynamic Objects: An Unsupervised Learning Approach	p. 270
Probabilistic Models of Object Geometry for Grasp Planning	p. 278
Dynamic Modeling of Stick Slip Motion in an Untethered Magnetic Micro-Robot	p. 286
Super-Flexible Skin Sensors Embedded on the Whole Body, Self-Organizing Based on Haptic Interactions	p. 294
NanoNewton Force Sensing and Control in Microrobotic Cell Manipulation	p. 302
Gas Distribution Modeling using Sparse Gaussian Process Mixture Models	p. 310
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