Field and Service Robotics

by Laugier, Christian; Siegwart, Roland

• ISBN13: 9783540754039
• ISBN10: 3540754032
• Edition: 1st
• Format: Hardcover
• Copyright: 2008-06-03
• Publisher: Springer-Verlag New York Inc

Summary

FSR, the 'œInternational Conference on Field and Service Robotics', is a robotics Symposium which has established over the past ten years the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The first meeting was held in Canberra, Australia, in 1997. Since then the meeting has been held every two years in the pattern Asia, America, Europe. This books presents the results of the sixth edition of "Field and Service Robotics" FSR03, held in Chamonix, France, on 9th - 12th July 2003. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. Field robots are non-factory robots, typically mobile, that operate in complex, and dynamic environments: on the ground (of Earth or planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, Climbing Robotics, Sensor Fusion.

Table of Contents

Mapping
Outdoor Radar Mapping Using Measurement Likelihood Estimation	p. 3
Recovering the Shape of Objects in 3D Point Clouds with Partial Occlusions	p. 13
Update Policy of Dense Maps: Efficient Algorithms and Sparse Representation	p. 23
Assessing Map Quality Using Conditional Random Fields	p. 35
Vision for Navigation
Robust Vision-Based Underwater Target Identification and Homing Using Self-Similar Landmarks	p. 51
Vision-Based Handling Tasks for an Autonomous Outdoor Forklift	p. 61
Robust Feature Extraction and Matching for Omnidirectional Images	p. 71
Dynamic Obstacle Detection Based on Probabilistic Moving Feature Recognition	p. 83
Mobile Robot Geometry Initialization from Single Camera	p. 93
Underwater Robots and Systems
A Feature Based Navigation System for an Autonomous Underwater Robot	p. 105
Experiments in Navigation and Mapping with a Hovering AUV	p. 115
Mobile Robot Sensing for Environmental Applications	p. 125
Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles	p. 137
A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning	p. 147
Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy	p. 157
Wheeled Robots
Autonomous Robotic Inspection for Lunar Surface Operations	p. 169
Roving Faster Farther Cheaper	p. 179
Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects	p. 189
Localization and Sensor Fusion
Robot Position Estimation on a RFID-Tagged Smart Floor	p. 201
Monte Carlo Localization in Outdoor Terrains Using Multi-Level Surface Maps	p. 213
Estimating Vehicle Position Using Few Range Measurements to a Known Curved Surface	p. 223
Sensor Registration for Robotic Applications	p. 233
Aerial Navigation and Visual Tracking
Reactive Collision Avoidance for Unmanned Aerial Vehicles Using Doppler Radar	p. 245
Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle	p. 255
Pedestrian Shape Extraction by Means of Active Contours	p. 265
Teleoperation
The Small Outdoor Rover MERLIN and Its Assistance System for Tele-operations	p. 277
Visually-Guided Robot Navigation: From Artificial to Natural Landmarks	p. 287
An Advanced Teleoperation Testbed	p. 297
Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links	p. 305
SLAM
SIFT Based Graphical SLAM on a Packbot	p. 317
Look-Ahead Proposals for Robust Grid-Based SLAM	p. 329
Tradeoffs in SLAM with Sparse Information Filters	p. 339
Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation	p. 349
A FastSLAM Algorithm Based on the Unscented Filtering with Adaptive Selective Resampling	p. 359
Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters	p. 369
Learning and Scene Estimation
Modelling Smooth Paths Using Gaussian Processes	p. 381
Data-Driven Identification of Group Dynamics for Motion Prediction and Control	p. 391
Unsupervised Detection of Artificial Objects in Outdoor Environments	p. 401
Online Learning of Multiple Perceptual Models for Navigation in Unknown Terrain	p. 411
Multirobot Systems
Implementation of Formation Transition System Using Synchronization in a Mobile Robot Group	p. 423
Coordinated Search in Cluttered Environments Using Range from Multiple Robots	p. 433
A Plan Manager for Multi-robot Systems	p. 443
Development of a Networked Robotic System for Disaster Mitigation: System Description of Multi-robot System and Performance Tests of the Robots	p. 453
Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors	p. 463
Field Robotics - Systems and Applications
Experiments in Autonomous Reversing of a Tractor-Trailer System	p. 475
ATRS - A Technology-Based Solution to Automobility for Wheelchair Users	p. 485
Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance	p. 495
Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich	p. 505
Automated Steam Turbine Straddle Root Disc Head Inspection	p. 513
Design and Field Testing of an Autonomous Underground Tramming System	p. 521
Autonomous Fruit Picking Machine: A Robotic Apple Harvester	p. 531
Standing Assistance System for Rehabilitation Walker	p. 541
Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles	p. 551
Picking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator	p. 563
Path Planning
An Architecture for Automated Driving in Urban Environments	p. 575
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments	p. 585
Author Index	p. 595
Table of Contents provided by Ingram. All Rights Reserved.