Advances in Robotics

1. Localization, Path Planning, Obstacle Avoidance

   1. Motivation and Context-Based Multi-Robot Architecture for Dynamic Task, Role and Behavior Selections

      • Dong-Hyun Lee, Jong-Hwan Kim

      Pages 161-170

   2. A Robot Localization Method Based on Laser Scan Matching

      • David Sandberg, Krister Wolff, Mattias Wahde

      Pages 171-178

   3. An Algorithm for Sensory Area Coverage by Mobile Robots Operating in Complex Arenas

      • Mattias Wahde, David Sandberg

      Pages 179-186

   4. Topological SLAM Using Fast Vision Techniques

      • Felix Werner, Frederic Maire, Joaquin Sitte

      Pages 187-196

   5. Virtual Door-Based Coverage Path Planning for Mobile Robot

      • Hyun Myung, Hae-min Jeon, Woo-Yeon Jeong, Seok-Won Bang

      Pages 197-207

   6. Vision Module for Mini-robots Providing Optical Flow Processing for Obstacle Avoidance

      • Teerapat Chinapirom, Ulf Witkowski, Ulrich Rueckert

      Pages 208-219

   7. Ad-Hoc Communication and Localization System for Mobile Robots

      • Bernd Neuwinger, Ulf Witkowski, Ulrich Rückert

      Pages 220-229

2. Control, Communication

   1. Robotic Implementation of Realistic Reaching Motion Using a Sliding Mode/Operational Space Controller

      • Adam Spiers, Guido Herrmann, Chris Melhuish, Tony Pipe, Alexander Lenz

      Pages 230-238

   2. Topology Control in Large-Scale High Dynamic Mobile Ad-Hoc Networks

      • Mohamed El-Habbal, Ulrich Rückert, Ulf Witkowski

      Pages 239-250

   3. A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight

      • C. H. Cho, B. C. Min, D. H. Kim

      Pages 251-261

   4. Development of a Micro Quad-Rotor UAV for Monitoring an Indoor Environment

      • B. C. Min, C. H. Cho, K. M. Choi, D. H. Kim

      Pages 262-271

3. Terrain Mapping

   1. An Improved Method for Real-Time 3D Construction of DTM

      • Yi Wei

      Pages 272-281

   2. Depth Estimation Using Variant of Depth of Field by Horizontal Planes of Sharp Focus

      • Hiroshi Ikeoka, Takayuki Hamamoto

      Pages 282-291

   3. A Study on Stereo and Motion Data Accuracy for a Moving Platform

      • Sandino Morales, Young Woon Woo, Reinhard Klette, Tobi Vaudrey

      Pages 292-300

4. Classification

   1. Equivalent Relationship of Feedforward Neural Networks and Real-Time Face Detection System

      • Shuzhi Sam Ge, Yaozhang Pan, Qun Zhang, Lei Chen

      Pages 301-310

   2. Determination of Gender and Age Based on Pattern of Human Motion Using AdaBoost Algorithms

      • Santoso Handri, Shusaku Nomura, Kazuo Nakamura

      Pages 311-319

5. Back Matter

   PDF

th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social Robotics (ICSR) • International Conference on Advanced Humanoid Robotics Research (ICAHRR) • International Conference on Entertainment Robotics (ICER) • International Robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.

• AMiRE
• CIRAS
• FIRA
• HCI
• ICAHRR
• ICER
• ICSR
• IREF
• RFID
• autonomous systems
• communication
• emotion
• humanoid robots
• robot
• robotics

• Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

  Jong-Hwan Kim

• Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, Singapore

  Shuzhi Sam Ge

• National University of Singapore, Singapore

  Prahlad Vadakkepat, Abdullah Al Manum

• Technische Universität Dortmund, Germany

  Norbert Jesse

• Department of Electrical and Computer Engineering, National University of Singapore, Singapore

  Sadasivan Puthusserypady K

• Institut für Informatik/I12, Technische Universität München, Garching b. München, Germany

  Ulrich Rückert

• School of Software Engineering and Data Communications, Queensland University of Technology, Brisbane, Australia

  Joaquin Sitte

• Heinz Nixdorf Institute, University of Paderborn, Paderborn, Germany

  Ulf Witkowski

• Interactive & Digital Media Institute, National University of Singapore, Singapore

  Ryohei Nakatsu

• University of Manitoba, Winnipeg, Canada

  Jacky Baltes

• Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, Winnipeg, Canada

  John Anderson

• Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, Haifa, Israel

  Igor Verner

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