© 2020

Algorithmic Foundations of Robotics XII

Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics

  • Ken Goldberg
  • Pieter Abbeel
  • Kostas Bekris
  • Lauren Miller

Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 13)

Table of contents

  1. Front Matter
    Pages i-xi
  2. Rangaprasad Arun Srivatsan, Howie Choset
    Pages 1-16
  3. Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
    Pages 17-32
  4. Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
    Pages 48-63
  5. David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
    Pages 64-79
  6. Ahalya Prabhakar, Anastasia Mavrommati, Jarvis Schultz, Todd D. Murphey
    Pages 80-95
  7. Jeffrey Ichnowski, Jan Prins, Ron Alterovitz
    Pages 96-111
  8. Laurent Denarie, Kevin Molloy, Marc Vaisset, Thierry Siméon, Juan Cortés
    Pages 112-127
  9. Francisco Penedo, Cristian-Ioan Vasile, Calin Belta
    Pages 128-143
  10. Jaime F. Fisac, Chang Liu, Jessica B. Hamrick, Shankar Sastry, J. Karl Hedrick, Thomas L. Griffiths et al.
    Pages 144-159
  11. Omur Arslan, Daniel E. Koditschek
    Pages 160-175
  12. Patrick A. Plonski, Volkan Isler
    Pages 192-207
  13. Michael Otte, Michael Kuhlman, Donald Sofge
    Pages 208-223
  14. Shervin Ghasemlou, Fatemeh Zahra Saberifar, Jason M. O’Kane, Dylan A. Shell
    Pages 224-239
  15. Yuanfu Luo, Haoyu Bai, David Hsu, Wee Sun Lee
    Pages 240-255
  16. Marcus Hoerger, Hanna Kurniawati, Tirthankar Bandyopadhyay, Alberto Elfes
    Pages 272-287
  17. Saurav Agarwal, Amirhossein Tamjidi, Suman Chakravorty
    Pages 288-303

About this book


This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of robotics have applications to manufacturing, medicine, distributed robotics, human–robot interaction, intelligent prosthetics, computer animation, computational biology, and many other areas.


The 2016 edition of WAFR went back to its roots and was held in San Francisco, California – the city where the very first WAFR was held in 1994. Organized by Pieter Abbeel, Kostas Bekris, Ken Goldberg, and Lauren Miller, WAFR 2016 featured keynote talks by John Canny on “A Guided Tour of Computer Vision, Robotics, Algebra, and HCI,” Erik Demaine on “Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms,” Dan Halperin on “From Piano Movers to Piano Printers: Computing and Using Minkowski Sums,” and by Lydia Kavraki on “20 Years of Sampling Robot Motion.” Furthermore, it included an Open Problems Session organized by Ron Alterovitz, Florian Pokorny, and Jur van den Berg. There were 58 paper presentations during the three-day event.


The organizers would like to thank the authors for their work and contributions, the reviewers for ensuring the high quality of the meeting, the WAFR Steering Committee led by Nancy Amato as well as WAFR’s fiscal sponsor, the International Federation of Robotics Research (IFRR), led by Oussama Khatib and Henrik Christensen. WAFR 2016 was an enjoyable and memorable event.


Robotics Progress Algorithmic Foundations of Robotics Design and Analysis of Robot Algorithms Robot Algorithms WAFR Proceedings

Editors and affiliations

  • Ken Goldberg
    • 1
  • Pieter Abbeel
    • 2
  • Kostas Bekris
    • 3
  • Lauren Miller
    • 4
  1. 1.Industrial Engineering and Operations ResearchUniversity of CaliforniaBerkeleyUSA
  2. 2.Electrical Engineering and Computer SciencesUniversity of CaliforniaBerkeleyUSA
  3. 3.Rutgers UniversityPiscatawayUSA
  4. 4.University of CaliforniaBerkeleyUSA

Bibliographic information

  • Book Title Algorithmic Foundations of Robotics XII
  • Book Subtitle Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics
  • Editors Ken Goldberg
    Pieter Abbeel
    Kostas Bekris
    Lauren Miller
  • Series Title Springer Proceedings in Advanced Robotics
  • Series Abbreviated Title Springer Proceedings in Advanced Robotics
  • DOI
  • Copyright Information Springer Nature Switzerland AG 2020
  • Publisher Name Springer, Cham
  • eBook Packages Intelligent Technologies and Robotics Intelligent Technologies and Robotics (R0)
  • Hardcover ISBN 978-3-030-43088-7
  • Softcover ISBN 978-3-030-43091-7
  • eBook ISBN 978-3-030-43089-4
  • Series ISSN 2511-1256
  • Series E-ISSN 2511-1264
  • Edition Number 1
  • Number of Pages XI, 931
  • Number of Illustrations 2 b/w illustrations, 0 illustrations in colour
  • Topics Robotics and Automation
    Artificial Intelligence
  • Buy this book on publisher's site
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