By Takeo Igarashi, Mike Stilman (auth.), David Hsu, Volkan Isler, Jean-Claude Latombe, Ming C. Lin (eds.)
Robotics is on the cusp of dramatic transformation. more and more advanced robots with unparalleled autonomy are discovering new purposes, from scientific surgical procedure, to development, to domestic companies. in contrast historical past, the algorithmic foundations of robotics have gotten extra an important than ever, so one can construct robots which are quickly, secure, trustworthy, and adaptive. Algorithms permit robots to understand, plan, regulate, and research. The layout and research of robotic algorithms increase new basic questions that span laptop technology, electric engineering, mechanical engineering, and arithmetic. those algorithms also are discovering functions past robotics, for instance, in modeling molecular movement and developing electronic characters for games and architectural simulation. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a hugely selective assembly of major researchers within the box of robotic algorithms. for the reason that its production in 1994, it has released a few of the field’s most vital and lasting contributions. This publication comprises the court cases of the ninth WAFR, hung on December 13-15, 2010 on the nationwide collage of Singapore. The 24 papers incorporated during this ebook span a wide selection of themes from new theoretical insights to novel applications.
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Additional info for Algorithmic Foundations of Robotics IX: Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics
Mason Fig. 4 At top: several example paths combining different values of v and w. Each path pair obeys (3). The value of v affects the “curviness” allowed in paths, while w affects their length. At bottom: this plot, generated numerically, approximates the set of appropriate choices for v and w. The gray region at top right must be avoided, as we show in Lemma 2. Such choices would permit an obstacle to occur between two safe paths that obey (3).
On Robotics and Automation, pp. : Motion planning for robotic manipulation of deformable linear objects. In: Experimental Robotics, pp. 23–32. : Real-time re-planning in high-dimensional configuration spacesusing sets of homotopic paths. In: Proceedings of IEEE Int. Conf. on Robotics and Automation, ICRA 2000, vol. : Capture of homotopy classes with probabilistic road map. In: IEEE/RSJ Int. Conf. on Intelligent Robots and System, vol. : Path deformation roadmaps. In: Algorithmic Foundation of Robotics VII, pp.
When fixing the replan rate at 10 Hz, implicit path evaluation maintains an advantage, despite the overhead, across all navigable obstacle densities. 5 Discussion and Future Work In this paper, we propose an equivalence relation on local paths based on the following constraints: fixed start position and heading, fixed length, and bounded curvature. We describe an algorithm for easily classifying paths using the Hausdorff distance between them. Path classification is a tool that permits collective reasoning about paths, leading to more efficient collision-testing.