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Algorithmic Foundations of Robotics IX

Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics

  • Book
  • © 2011

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Editors:
  1. David Hsu

    1. School of Computing, National University of Singapore, Singapore

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  2. Volkan Isler

    1. Department of Computer Science, University of Minnesota, Minneapolis, USA

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  3. Jean-Claude Latombe

    1. Computer Science Department, Stanford University, Stanford, USA

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  4. Ming C. Lin

    1. Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, USA

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  • Recent leading research on Robotic Algorithms Edited outcome ot the Ninth International Workshop on the Algorithmic Foundations of Robotics
  • WAFR held on December 13-15, 2010 at the National University of Singapore
  • Written by leading experts in the field

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 68)

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Table of contents (24 chapters)

  1. Front Matter

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  2. Session I

    1. Homotopic Path Planning on Manifolds for Cabled Mobile Robots

      • Takeo Igarashi, Mike Stilman
      Pages 1-18

    2. An Equivalence Relation for Local Path Sets

      • Ross A. Knepper, Siddhartha S. Srinivasa, Matthew T. Mason
      Pages 19-35

    3. Using Lie Group Symmetries for Fast Corrective Motion Planning

      • Konstantin Seiler, Surya P. N. Singh, Hugh Durrant-Whyte
      Pages 37-52

    4. Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics

      • Devin K. Grady, Kostas E. Bekris, Lydia E. Kavraki
      Pages 53-70

  3. Session II

    1. Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games

      • Sertac Karaman, Emilio Frazzoli
      Pages 71-87

    2. Multiagent Pursuit Evasion, or Playing Kabaddi

      • Kyle Klein, Subhash Suri
      Pages 89-104

    3. Reconfiguring Chain-Type Modular Robots Based on the Carpenter’s Rule Theorem

      • Jungwon Seo, Steven Gray, Vijay Kumar, Mark Yim
      Pages 105-120

    4. Robomotion: Scalable, Physically Stable Locomotion for Self-reconfigurable Robots

      • Sam Slee, John Reif
      Pages 121-137

  4. Session III

    1. Adaptive Time Stepping in Real-Time Motion Planning

      • Kris Hauser
      Pages 139-155

    2. The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping

      • Michael Kaess, Viorela Ila, Richard Roberts, Frank Dellaert
      Pages 157-173

    3. Monte Carlo Value Iteration for Continuous-State POMDPs

      • Haoyu Bai, David Hsu, Wee Sun Lee, Vien A. Ngo
      Pages 175-191

    4. Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces

      • Kris Hauser
      Pages 193-209

  6. Session V

    1. Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners

      • Oren Nechushtan, Barak Raveh, Dan Halperin
      Pages 285-301

    2. Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms

      • Dmitry S. Yershov, Steven M. LaValle
      Pages 303-320

    3. Grasp Invariance

      • Alberto Rodriguez, Matthew T. Mason
      Pages 321-336
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Keywords

About this book

Robotics is at the cusp of dramatic transformation. Increasingly complex robots with unprecedented autonomy are finding new applications, from medical surgery, to construction, to home services. Against this background, the algorithmic foundations of robotics are becoming more crucial than ever, in order to build robots that are fast, safe, reliable, and adaptive. Algorithms enable robots to perceive, plan, control, and learn. The design and analysis of robot algorithms raise new fundamental questions that span computer science, electrical engineering, mechanical engineering, and mathematics. These algorithms are also finding applications beyond robotics, for example, in modeling molecular motion and creating digital characters for video games and architectural simulation. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a highly selective meeting of leading researchers in the field of robot algorithms. Since its creation in 1994, it has published some of the field’s most important and lasting contributions. This book contains the proceedings of the 9th WAFR, held on December 13-15, 2010 at the National University of Singapore. The 24 papers included in this book span a wide variety of topics from new theoretical insights to novel applications.

Editors and Affiliations

  • School of Computing, National University of Singapore, Singapore

    David Hsu

  • Department of Computer Science, University of Minnesota, Minneapolis, USA

    Volkan Isler

  • Computer Science Department, Stanford University, Stanford, USA

    Jean-Claude Latombe

  • Department of Computer Science, University of North Carolina, Chapel Hill, Chapel Hill, USA

    Ming C. Lin

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