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Robotics: Science and Systems V
Робототехника: Наука и Система
Год: 2010
Автор: Jeff Trinkle, Yoky Matsuoka, and Jose A. Castellanos / Джеф Тринкл, Йоку Матсуока, Хосе Кастельянос
Жанр: Робототехника
Издательство: Massachusetts Institute of Technology
ISBN: 978-0-262-51463-7
Язык: Английский Формат: PDF
Качество: Изначально компьютерное (eBook)
Количество страниц: 321 Описание:
Robotics: Science and Systems V spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the fifth annual Robotics
: Science and Systems conference, held in 2009 at the University of Washington in Seattle. The papers presented cover a range of topics, including manipulation, locomotion, machine learning, localization, visual SLAM, haptics, and biologically inspired design. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented. Сборник составлен по материалам международной конференции "Робототехника: Наука и Система", прошедшей в 2009 году в Сиэтле (США). Опубликовано группой

Preface ...........................................................................................................................................................................vii
Cooperative Manipulation and Transportation with Aerial Robots ................................................................................ 1
Nathan Michael, Jonathan Fink, and Vijay Kumar
Learning of 2D Grasping Strategies from Box-based 3D Object Approximations ........................................................ 9
Sebastian Geidenstam, Kai Huebner, Daniel Banksell, and Danica Kragic
LQR-Trees: Feedback Motion Planning on Sparse Randomized Trees ....................................................................... 17
Russ Tedrake
Human Motion Database with a Binary Tree and Node Transition Graphs ................................................................. 25
Katsu Yamane, Yoshifumi Yamaguchi, and Yoshihiko Nakamura
Explicit Parametrizations of the Configuration Spaces of Anthropomorphic Multi-linkage Systems ......................... 33
Li Han and Lee Rudolph
Approximating Displacement with the Body Velocity Integral .................................................................................... 41
Ross L. Hatton and Howie Choset
Tactile Texture Recognition with a 3-axial Force MEMS Integrated Artificial Finger ................................................ 49
Florian de Boissieu, Christelle Godin, Bernhard Guilhamat, Dominique David, Christine Serviere, and Daniel Baudois
On the Complexity of the Set of Three-finger Caging Grasps of Convex Polygons .................................................... 57
Mostafa Vahedi and A. Frank van der Stappen
On the Consistency of Multi-robot Cooperative Localization ...................................................................................... 65
Guoquan P. Huang, Nikolas Trawny, Anastasios I. Mourikis, and Stergios I. Roumeliotis
Inner Sphere Trees for Proximity and Penetration Queries .......................................................................................... 73
Rene Weller and Gabriel Zachmann
Using the Distribution Theory to Simultaneously Calibrate the Sensors of a Mobile Robot ....................................... 81
Agostino Martinelli
Planning Motion in Environments with Similar Obstacles........................................................................................... 89
Jyh-Ming Lien and Yanyan Lu
Robust Visual Homing with Landmark Angles ............................................................................................................ 97
John Lim and Nick Barnes
Rut Detection and Following for Autonomous Ground Vehicles ............................................................................... 105
Camilo Ordonez, Oscar Y. Chuy Jr., Emmanuel G. Collins Jr., and Xiuwen Liu
Unsupervised Discovery of Object Classes from Range Data Using Latent Dirichlet Allocation ............................. 113
Felix Endres, Christian Plagemann, Cyrill Stachniss, and Wolfram Burgard
Towards Cyclic Fabrication Systems for Modular Robotics and Rapid Manufacturing ............................................ 121
Matthew S. Moses, Hiroshi Yamaguchi, and Gregory S. Chirikjian
Setpoint Regulation for Stochastically Interacting Robots ......................................................................................... 129
Nils Napp, Samuel Burden, and Eric Klavins
Centralized Path Planning for Multiple Robots: Optimal Decoupling into Sequential Plans .................................... 137
Jur van den Berg, Jack Snoeyink, Ming Lin, and Dinesh Manocha
Accurate Rough Terrain Estimation with Space-Carving Kernels ............................................................................. 145
Raia Hadsell, J. Andrew Bagnell, Daniel Huber, and Martial Hebert
View-based Maps ........................................................................................................................................................ 153
Kurt Konolige, James Bowman, JD Chen, Patrick Mihelich, Michael Calonder, Vincent Lepetit, and Pascal Fua
Generalized-ICP .......................................................................................................................................................... 161
Aleksandr V. Segal, Dirk Haehnel, and Sebastian Thrun
3D Laser Scan Classification Using Web Data and Domain Adaptation .................................................................... 169
Kevin Lai and Dieter Fox
Adaptive Relative Bundle Adjustment ........................................................................................................................ 177
Gabe Sibley, Christopher Mei, Ian Reid, and Paul Newman
Underwater Human-Robot Interaction via Biological Motion Identification ............................................................. 185
Junaed Sattar and Gregory Dudek
Robustness of the Unscented Kalman Filter for State and Parameter Estimation in an Elastic Transmission ........... 193
Edvard Naerum, H. Hawkeye King, and Blake Hannaford
POMDPs for Robotic Tasks with Mixed Observability .............................................................................................. 201
Sylvie C.W. Ong, Shao Wei Png, David Hsu, and Wee Sun Lee
Policy Search via the Signed Derivative ..................................................................................................................... 209
J. Zico Kolter and Andrew Y. Ng
Non-parametric Learning to Aid Path Planning Over Slopes ..................................................................................... 217
Sisir Karumanchi, Thomas Allen, Tim Bailey, and Steve Scheding
Learning GP-BayesFilters via Gaussian Process Latent Variable Models ................................................................. 225
Jonathan Ko and Dieter Fox
3D Relative Pose Estimation from Six Distances ....................................................................................................... 233
Nikolas Trawny, Xun S. Zhou, and Stergios I. Roumeliotis
An Ab-initio Tree-based Exploration to Enhance Sampling of Low-energy Protein Conformations ........................ 241
Amarda Shehu
Cellular Muscle Actuators with Variable Resonant Frequencies ................................................................................ 249
Thomas W. Secord and H. Harry Asada
Positioning Unmanned Aerial Vehicles as Communication Relays for Surveillance Tasks ....................................... 257
Oleg Burdakov, Patrick Doherty, Kaj Holmberg, Jonas Kvarnström, and Per-Magnus Olsson
Efficient, Guaranteed Search with Multi-agent Teams ............................................................................................... 265
Geoffrey Hollinger, Sanjiv Singh, and Athanasios Kehagias
Time-extended Multi-robot Coordination for Domains with Intra-path Constraints ................................................. 273
E. Gil Jones, M. Berna dine Dias, and Anthony Stentz
Bridging the Gap between Passivity and Transparency .............................................................................................. 281
Michel Franken, Stefano Stramigioli, Rob Reilink, Cristian Secchi, and Alessandro Macchelli
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths ................................. 289
Kris Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison Okamura, and Ken Goldberg
Large Scale Graph-based SLAM Using Aerial Images as Prior Information ............................................................. 297
Rainer Kümmerle, Bastian Steder, Christian Dornhege, Alexander Kleiner, Giorgio Grisetti, and Wolfram Burgard
Highly Scalable Appearance-only SLAM — FAB-MAP 2.0 ..................................................................................... 305
Mark Cummins and Paul Newman