Field and Service Robotics

by Howard, Andrew; Iagnemma, Karl; Kelly, Alonzo

• ISBN13: 9783642134074
• ISBN10: 3642134076
• Format: Hardcover
• Copyright: 2010-06-30
• Publisher: Springer Verlag

Summary

The seventh edition of Field and Service Robotics, edited by Andrew Howard, Karl Iagnemma and Alonzo Kelly, offers an eleven chapter collection of a broad range of topics spanning: design, perception and control; tracking and sensing; localization and mapping; multi-robot cooperation and human-robot interaction; mining, maritime and planetary robotics. The volume's forty-five contributions represent a cross-section of the current state of robotics research from one particular aspect: field and service applications. Pursuing technologies aimed at realizing robots operating in complex and dynamic environments, as well as robots working closely with humans, is the overarching theme running throughout this collection.

Table of Contents

Mechanism Design
Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications	p. 3
Towards Autonomous Wheelchair Systems in Urban Environments	p. 13
Tethered Detachable Hook for the Spiderman Locomotion(Design of the Hook and Its Launching Winch)	p. 25
New Measurement Concept for Forest Harvester Head	p. 35
Expliner - Toward a Practical Robot for Inspection of High-Voltage Lines	p. 45
Perception and Control
Experimental Study of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios	p. 59
Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths	p. 69
Posterior Probability Estimation Techniques Embedded in a Bayes Filter for Vibration-Based Terrain Classification	p. 79
Towards Visual Arctic Terrain Assessment	p. 91
Tracking and Servoing
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data	p. 103
Passive, Long-Range Detection of Aircraft: Towards a Field Deployable Sense and Avoid System	p. 113
Multiclass Multimodal Detection and Tracking in Urban Environments	p. 125
Vision-Based Vehicle Trajectory Following with Constant Time Delay	p. 137
Localization
Radar Scan Matching SLAM Using the Fourier-Mellin Transform	p. 151
An Automated Asset Locating System (AALS) with Applications to Inventory Management	p. 163
Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models	p. 173
Outdoor Downward-Facing Optical Flow Odometry with Commodity Sensors	p. 183
Place Recognition Using Regional Point Descriptors for 3D Mapping	p. 195
Mapping
Scan-Point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment	p. 207
Image and Sparse Laser Fusion for Dense Scene Reconstruction	p. 219
Relative Motion Threshold for Rejection in ICP Registration	p. 229
Bandit-Based Online Candidate Selection for Adjustable Autonomy	p. 239
Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain	p. 249
Underwater Localization and Mapping
Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking	p. 263
AUV Benthic Habitat Mapping in South Eastern Tasmania	p. 275
Sensor Network Based AUV Localisation	p. 285
Experiments in Visual Localisation around Underwater Structures	p. 295
Multi-Robot Cooperation
Leap-Frog Path Design for Multi-Robot Cooperative Localization	p. 307
A Location-Based Algorithm for Multi-Hopping State Estimates within a Distributed Robot Team	p. 319
Cooperative AUV Navigation Using a Single Surface Craft	p. 331
Multi-Robot Fire Searching in Unknown Environment	p. 341
Human Robot Interaction
Using Virtual Articulations to Operate High-DoF Inspection and Manipulation Motions	p. 355
Field Experiment on Multiple Mobile Robots conducted in an Underground Mall	p. 365
Learning to Identify Users and Predict Their Destination in a Robotic Guidance Application	p. 377
Long Term Learning and Online Robot Behavior Adaptation for Individuals with Physical and Cognitive Impairments	p. 389
Mining Robotics
Swing Trajectory Control for Large Excavators	p. 401
The Development of a Telerobotic Rock Breaker	p. 411
Camera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids	p. 421
Maritime Robotics
A Communication Framework for Cost-Effective Operation of AUVs in Coastal Regions	p. 433
Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs	p. 443
A Simple Reactive Obstacle Avoidance Algorithm and Its Application in Singapore Harbor	p. 455
Planetary Robotics
Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis	p. 469
Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing	p. 479
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype	p. 489
Rover-Based Surface and Subsurface Modeling for Planetary Exploration	p. 499
Author Index	p. 509
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