Robotics : science and systems VII / edited by Hugh Durrant-Whyte, Nicholas Roy, and Pieter Abbeel.

Format:

Book

Conference/Event

Author/Creator:

Robotics: Science and Systems Conference, Corporate Author.

Contributor:

Durrant-Whyte, Hugh F., 1961-

Roy, Nicholas.

Abbeel, Pieter.

Conference Name:

Robotics: Science and Systems Conference (7th : 2011 : Los Angeles, Calif.)

Robotics: Science and Systems Conference

Language:

English

Subjects (All):

Robotics--Congresses.

Robotics.

Physical Description:

1 online resource (382 p.)

Edition:

1st ed.

Other Title:

Robotics Science and Systems 7

Place of Publication:

Cambridge, MA : MIT Press, ©2012.

Language Note:

English

Summary:

Robotics: Science and Systems VII spans a wide spectrum of robotics, bringing together researchers working on the algorithmic or mathematical foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the seventh annual Robotics: Science and Systems conference, held in 2011 at the University of Southern California. The papers presented cover a wide range of topics in robotics, spanning mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. 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.

Contents:

Contents; Preface; Organizing Committee; Program Committee; Workshop Evaluation Committee; Sponsors; Unmanned Aircraft Collision Avoidance Using Continuous-State POMDPs; I. INTRODUCTION; II. RELATED WORK; III. COLLISION AVOIDANCE MODELS; IV. MONTE CARLO VALUE ITERATION (MCVI); V. SIMULATION RESULTS; VI. DISCUSSION; VII. CONCLUSIONS; REFERENCES; Identification and Representation of Homotopy Classes of Trajectories for Search-Based Path Planning in 3D; I. INTRODUCTION; II. BACKGROUND; III. APPLICATION OF THEORY OF ELECTROMAGNETISM IN IDENTIFYING HOMOTOPY CLASSES

IV. SEARCH-BASED PLANNING IN THREE DIMENSIONS WITH HOMOTOPY CLASS CONSTRAINTSV. RESULTS; VI. HOMOLOGY AS AN APPROXIMATION OF HOMOTOPY; VII. CONCLUSION; REFERENCES; Controlling Wild Bodies Using Linear Temporal Logic; I. INTRODUCTION; II. THE OVERALL DESIGN; III. CONTROLLING ONE WILD BODY; IV. CONTROLLING MULTIPLE WILD BODIES; V. EXPERIMENTS; VI. CONCLUSIONS AND FUTURE WORK; REFERENCES; Exploiting Variable Stiffness in Explosive Movement Tasks; I. INTRODUCTION; II. OPTIMAL TORQUE/STIFFNESS CONTROL; III. CASE STUDY: OPTIMAL BALL THROWING

IV. EXPLOITING VARIABLE STIFFNESS THROUGH OPTIMAL CONTROLV. BALL THROWING EXPERIMENT; VI. CONCLUSION; ACKNOWLEDGMENTS; REFERENCES; Automatic Calibration of Multiple Coplanar Sensors; I. INTRODUCTION; II. BACKGROUND; III. PROBLEM STATEMENT; IV. OBSERVABILITY & THE CRAMER-RAO LOWER BOUND; V. ESTIMATION; VII. INTERPOLATION IN PRACTICE; VIII. PRACTICAL COVARIANCE MEASUREMENTS; IX. RESULTS; X. CONCLUSION; APPENDIX; REFERENCES; A Linear Approximation for Graph-Based Simultaneous Localization and Mapping; I. INTRODUCTION; II. RELATED WORK; III. PROBLEM FORMULATION

IV. A LINEAR ESTIMATION FRAMEWORK FOR SLAMV. EXPERIMENTAL VALIDATION; VI. CONCLUSION; ACKNOWLEDGMENTS; REFERENCES; The Motion Grammar: Linguistic Perception, Planning, and Control; I. INTRODUCTION; II. RELATED WORK; III. THE MOTION GRAMMAR; IV. GRAMMARS FOR ROBOTIC SYSTEMS; V. HUMAN-ROBOT GAME APPLICATION; VI. ANALYSIS; VII. CONCLUSIONS AND FUTURE WORK; REFERENCES; Learning to Control a Low-Cost Manipulator Using Data-Efficient Reinforcement Learning; I. INTRODUCTION; II. RELATED WORK; III. PRELIMINARIES; IV. POLICY LEARNING WITH STATE-SPACE CONSTRAINTS; V. EXPERIMENTAL VALIDATION

VI. DISCUSSIONVII. CONCLUSION; ACKNOWLEDGEMENTS; REFERENCES; A Framework for Push-Grasping in Clutter; I. Introduction; II. Planning Framework; III. Action Library; IV. Implementation and Results; V. Conclusion and Discussion; Acknowledgments; References; Infinite-Horizon Model Predictive Control for Periodic Tasks with Contacts; I. INTRODUCTION; II. RELATED WORK; III. BACKGROUND; IV. WHY MPC IS NOT ENOUGH; V. INFINITE-HORIZON MODEL PREDICTIVE CONTROL; VI. APPROXIMATING THE INFINITE HORIZON VALUE FUNCTION; VII. RESULTS; VIII. CONCLUSION; APPENDIX; REFERENCES

An Art Gallery Approach to Ensuring That Landmarks Are Distinguishable

Notes:

Description based upon print version of record.

Includes bibliographical references.

OCLC-licensed vendor bibliographic record.

ISBN:

9786613806383

9781282133808

1282133802

9780262305969

0262305968

OCLC:

801834779

Publisher Number:

9786613806383