Modelling And Planning For Sensor Based Intelligent Robot Systems

This edited and reviewed volume consists of papers that were originally presented at a workshop in the Scientific Center at Schloss Dagstuhl, Germany. It gives an overview of the field and presents the latest developments in the areas of modeling and planning for sensor based robots. The particular topics addressed include active vision, sensor fusion, environment modeling, motion planning, robot navigation, distributed control architectures, reactive behavior, and others. Contents:Dynamic Environmental Modeling by the C-Tree (K Verbarg & H Noltemeier)Competitive Strategies for Autonomous Systems (C Icking & R Kelin)Boundary Extraction for Rasterized Motion Planning (H Mueller)Collision Detection: A Geometric Approach (P Jimenez & C Torras)Planning with Uncertainty of Vision (Y Shirai)Applications of Fractal Image Encoding (P Levi et al.)Model-Based Multisensory Robot Vision (H Bunke et al.)Local Environment Modeling Through Integrated Stereo & Motion Analysis (R C Bolles et al.)Localisation, Environmental Modelling and Path Planning for Autonomous Mobile Robot Navigation (R Jarvis)Hierarchical Control for Navigation Using Heterogeneous Models (P Pirjanian & H I Christensen)PRIAMOS: An Advanced Moblie System for Service, Inspection, and Surveillance Tasks (R Dillmann et al.)A Distributed Control Architecture for Autonomous Robot Systems (T Laengle et al.)Bio-Based Control for Intelligent Autonomous Systems (T C Henderson & A A Efros)Image-Guided Robotic Radiosurgery (J R Adler et al.)A Nonlinear Circuit Theory for Physically Understanding Dextrous Robot (Human) Motions (S Arimoto)and other papers Readership: Researchers in computer science, robotics, applied mathematics & engineering and electronics. keywords:Path Planning;Motion Planning;Navigation;Localization;Pose Tracking;Vision;Shape Recognition;Object Recognition;Distributed Systems;Multiple Robot Interaction;Human Robot Interaction;Telerobotics

This edited and reviewed volume consists of papers that were originally presented at a workshop in the Scientific Center at Schloss Dagstuhl, Germany. It gives an overview of the field and presents the latest developments in the areas of modeling and planning for sensor based robots. The particular topics addressed include active vision, sensor fusion, environment modeling, motion planning, robot navigation, distributed control architectures, reactive behavior, and others.

Rapid advances in sensors, computers, and algorithms continue to fuel dramatic improvements in intelligent robots. In addition, robot vehicles are starting to appear in a number of applications. For example, they have been installed in public settings to perform such tasks as delivering items in hospitals and cleaning floors in supermarkets; recently, two small robot vehicles were launched to explore Mars.This book presents the latest advances in the principal fields that contribute to robotics. It contains contributions written by leading experts addressing topics such as Path and Motion Planning, Navigation and Sensing, Vision and Object Recognition, Environment Modeling, and others.

This book constitutes the thorougly refereed post-proceedings of an international workshop on sensor based Intelligent Robot held in Dagstuhl Castle, Germany in September/October 1998. The 17 revised full papers presented were carefully reviewed for inclusion in the book. Among the topics addressed are robot navigation, motion planning, autonomous mobile robots, wheelchair robots, interactive robots, car navigation systems, visual tracking, sensor based navigation, distributed algorithms, computer vision, intelligent agents, robot control, and computational geometry.

Robotics is a highly interdisciplinary research topic, that requires integration of methods for mechanics, control engineering, signal processing, planning, gra- ics, human-computer interaction, real-time systems, applied mathematics, and software engineering to enable construction of fully operational systems. The diversity of topics needed to design, implement, and deploy such systems implies that it is almost impossible for individual teams to provide the needed critical mass for such endeavors. To facilitate interaction and progress on sensor-based intelligent robotics inter-disciplinary workshops are necessary through which - depthdiscussioncanbeusedforcrossdisseminationbetweendi?erentdisciplines. The Dagstuhl foundation has organized a number of workshops on Mod- ing and Integration of Sensor Based Intelligent Robot Systems. The Dagstuhl seminars take place over a full week in a beautiful setting in the Saarland in Germany. The setting provides an ideal environment for in-depth presentations and rich interaction between the participants. This volume contains papers presented during the fourth workshop held - tober 15–20, 2000. All papers were submitted by workshop attendees, and were reviewed by at least one reviewer. We wish to thank all of the reviewers for their invaluable help in making this a high-quality selection of papers. We gratefully acknowledge the support of the Schloss Dagstuhl Foundation and the sta? at Springer-Verlag. Without their support the production of this volume would not have been possible.

Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units is expected to lead to desirable features such as flexibility, fault tolerance, and efficiency. The DARS is the leading established conference on distributed autonomous systems. All papers have the common goal to contribute solutions to the very demanding task of designing distributed systems to realize robust and intelligent robotic systems.