Robotics: science and systems I / edited by Sebastian Thrun ... [and others].

Format:

Book

Conference/Event

Contributor:

Thrun, Sebastian, 1967-

Conference Name:

Robotics: Science and Systems (1st : 2005 : Cambridge, Mass.)

Language:

English

Subjects (All):

Robotics--Congresses.

Robotics.

Genre:

Conference papers and proceedings.

Physical Description:

xiii, 380 pages : illustrations ; 28 cm

Place of Publication:

Cambridge, Mass. : MIT Press, [2005]

Summary:

Papers presented at the inaugural Robotics: Science and Systems conference held at MIT in 2005.

Contents:

Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection / Carl Wellington, Aaron Courville, Anthony Stentz 1

Active Learning For Outdoor Obstacle Detection / Cristian Dima, Martial Hebert 9

Dynamic Maps for Long-Term Operation of Mobile Service Robots / Peter Biber, Tom Duckett 17

Star-shaped Roadmaps-A Deterministic Sampling Approach for Complete Motion Planning / Gokul Varadhan, Dinesh Manocha 25

Complete Path Planning for Planar Closed Chains Among Point Obstacles / G.F. Liu, J.C. Trinkle 33

Vision-based Distributed Coordination and Flocking of Multi-agent Systems / Nima Moshtagh, Ali Jadbabaie, Kostas Daniilidis 41

Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions / Herbert G. Tanner, Amit Kumar 49

Visually Navigating the RMS Titanic with SLAM Information Filters / Ryan Eustice, Hanumant Singh, John Leonard, Matthew Walter, Robert Ballard 57

Information Gain-based Exploration Using Rao-Blackwellized Particle Filters / Cyrill Stachniss, Giorgio Grisetti, Wolfram Burgard 65

Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM) / Anastasios I. Mourikis, Stergios I. Roumeliotis 73

Efficient Exploration With Latent Structure / Bethany R. Leffler, Michael L. Littman, Alexander L. Strehl, Thomas J. Walsh 81

A Polynomial-time Algorithm to Design Push Plans for Sensorless Parts Sorting / Mark de Berg, Xavier Goaoc, A. Frank van der Stappen 89

Efficient Motion Planning Based on Disassembly / Yuandong Yang, Oliver Brock 97

Toward Optimal Configuration Space Sampling / Brendan Burns, Oliver Brock 105

Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems / Elie Shammas, Howie Choset, Alfred Rizzi 113

A Two-Point Boundary-Value Approach for Planning Manipulation Tasks / Peng Song, Vijay Kumar, Jong-Shi Pang 121

Dynamic Task Assignment in Robot Swarms / James McLurkin, Daniel Yamins 129

Microrobotic Streak Seeding For Protein Crystal Growth / Atanas Georgiev, Peter K. Allen, Ting Song, Andrew Laine, William Edstrom, John Hunt 137

Single Actuator Control Analysis of a Planar 3DOF Hopping Robot / Nicholas Cherouvim, Evangelos Papadopoulos 145

Modeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering / Qi Luo, Jing Xiao 153

Three Dimensional Stochastic Reconfiguration of Modular Robots / Paul White, Victor Zykov, Josh Bongard, Hod Lipson 161

On Correlating Sonar Images / Richard J. Rikoski, J. Tory Cobb, Daniel C. Brown 169

Square Root SAM / Frank Dellaert 177

Topological Mapping with Multiple Visual Manifolds / Greg Grudic, Jane Mulligan 185

Scaling Hard Vertical Surfaces with Compliant Microspine Arrays / Alan T. Asbeck, Sangbae Kim, William R. Provancher, Michele Lanzetta 193

Multi-robot Simultaneous Localization and Mapping using Particle Filters / Andrew Howard 201

Data driven MCMC for Appearance-based Topological Mapping / Ananth Ranganathan, Frank Dellaert 209

Robot Planning in Partially Observable Continuous Domains / Josep M. Porta, Matthijs T. J. Spaan, Nikos Vlassis 217

Path Planning for Deformable Robots in Complex Environments / Russell Gayle, Paul Segars, Ming C. Lin, Dinesh Manocha 225

Motion Planning in the Presence of Drift, Underactuation, and Discrete System Changes / Andrew M. Ladd, Lydia E. Kavraki 233

BioCD: An Efficient Algorithm for Self-collision and Distance Computation between Highly Articulated Molecular Models / Vicente Ruiz de Angulo, Juan Cortes, Thierry Simeon 241

An RRT-Based Algorithm for Testing and Validating Multi-Robot Controllers / Jongwoo Kim, Joel M. Esposito, Vijay Kumar 249

Roadmap Based Pursuit-Evasion and Collision Avoidance / Volkan Isler, Dengfeng Sun, Shankar Sastry 257

Single-Cluster Spectral Graph Partitioning for Robotics Applications / Edwin Olson, Matthew Walter, Seth Teller, John Leonard 265

Adaptive Road Following using Self-Supervised Learning and Reverse Optical Flow / David Lieb, Andrew Lookingbill, Sebastian Thrun 273

Optimal Sensing Strategies for Mobile Robot Formations: Resource-Constrained Localization / Anastasios I. Mourikis, Stergios I. Roumeliotis 281

Discriminative Training of Kalman Filters / Pieter Abbeel, Adam Coates, Michael Montemerlo, Andrew Y. Ng, Sebastian Thrun 289

Time Complexity of Sensor-Based Vehicle Routing / Vikrant Sharma, Michael Savchenko, Emilio Frazzoli, Petros G. Voulgaris 297

The Stability of Point-mass Hoppers with Varying Morphology and Minimal Feedback / Justin Seipel 305

Optimal Design of Robots / Jean-Pierre Merlet 311

Biologically Inspired Miniature Water Strider Robot / Steve H. Suhr, Yun Seong Song, Sang Jun Lee, Metin Sitti 319

Micro and Nanorobotic Assembly Using Dielectrophoresis / Arunkumar Subramanian, Barmeshwar Vikramaditya, Lixin Dong, Dominik Bell, Bradley J. Nelson 327

Blind Swarms for Coverage in 2-D / Vin de Silva, Robert Ghrist, Abubakr Muhammad 335

Auction-Based Multi-Robot Routing / Michail G. Lagoudakis, Evangelos Markakis, David Kempe, Pinar Keskinocak, Anton Kleywegt, Sven Koenig, Craig Tovey, Adam Meyerson, Sonal Jain 343

Shape, Motion, and Parameter Estimation of Flexible Space Structures using Laser Rangefinders / Matthew D. Lichter, Steven Dubowsky, Hiroshi Ueno, Shinji Mitani 351

Model-Based Error Correction for Flexible Robotic Surgical Instruments / Ryan A. Beasley, Robert D. Howe 359

Data Structure for Efficient Processing in 3-D / Jean-Francois Lalonde, Nicolas Vandapel, Martial Hebert 365

[sigma]MCL: Monte-Carlo Localization for Mobile Robots with Stereo Vision / Pantelis Elinas, James J. Little 373.

Notes:

Papers presented at the inaugural Robotics: Science and Systems conference, held at MIT in Cambridge, MA, June 8-11, 2005.

Includes bibliographical references.

ISBN:

0262701146

OCLC:

62134808