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Principles of Robot Motion
A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Robotics: The Algorithmic Perspective
This volume gathers together cutting-edge research from the Third Workshop on Algorithmic Foundations of Robotics and gives a solid overview of the state of the art in robot algorithms. The papers cover core problems in robotics, such as motion planning, sensor-based planning, manipulation, and assembly planning. They also examine the application o
Robotics
Robotics: Science and Systems VIII spans a wide spectrum of robotics, bringing together contributions from researchers working on the mathematical foundations of robotics, robotics applications, and analysis of robotics systems.
Redundancy in Robot Manipulators and Multi-Robot Systems
The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume ...
Springer Handbook of Robotics
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition o...
Algorithmic Foundations of Robotics XI
This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g. manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning. This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.
Tank Wastes Planned for On-Site Disposal at Three Department of Energy Sites
In response to a request from Congress, the U.S. Department of Energy (DOE) asked the National Academies to evaluate its plans for managing radioactive wastes from spent nuclear fuel at sites in Idaho, South Carolina, and Washington. This interim report evaluates storage facilities at the Savannah River Site in South Carolina, with a particular focus on plans to seal the tanks with grouting. The report finds that tanks at the site do not necessarily need to be sealed shut as soon as the bulk of the waste has been removed. Postponing permanent closure buys more time for the development and application of emerging technologies to remove and better immobilize residual waste, without increasing risks to the environment or delaying final closure of the "tank farms." The report also recommends alternatives to address the lack of tank space at the site, as well as the need for focused R&D activities to reduce the amount and improve the immobilization of residual waste in the tanks and to test some of the assumptions used in evaulating long-term risks at the site.
Robotics Research
ISRR, the "International Symposium on Robotics Research", is one of robotics’ pioneering symposia, which has established some of the field's most fundamental and lasting contributions over the past two decades. This book presents the results of the eleventh edition of "Robotics Research" ISRR03, offering a broad range of topics in robotics. The contributions provide a wide coverage of the current state of robotics research: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope, and define the state of the art of robotics and its future direction.
Tank Waste Retrieval, Processing, and On-site Disposal at Three Department of Energy Sites
DOE Tank Waste: How clean is clean enough? The U.S. Congress asked the National Academies to evaluate the Department of Energy's (DOE's) plans for cleaning up defense-related radioactive wastes stored in underground tanks at three sites: the Hanford Site in Washington State, the Savannah River Site in South Carolina, and the Idaho National Laboratory. DOE plans to remove the waste from the tanks, separate out high-level radioactive waste to be shipped to an off-site geological repository, and dispose of the remaining lower-activity waste onsite. The report concludes that DOE's overall plan is workable, but some important challenges must be overcomeâ€"including the removal of residual waste from some tanks, especially at Hanford and Savannah River. The report recommends that DOE pursue a more risk-informed, consistent, participatory, and transparent for making decisions about how much waste to retrieve from tanks and how much to dispose of onsite. The report offers several other detailed recommendations to improve the technical soundness of DOE's tank cleanup plans.
Location- and Context-Awareness
This book constitutes the refereed proceedings of the Second International Workshop on Location- and Context-Awareness, LoCA 2006, held in Dublin, Ireland, in May 2006. The 18 revised full papers presented were carefully selected during two rounds of reviewing and improvement from 74 submissions. The papers are organized in topical sections on location sensing, mapping, privacy and access, context sensing, social context, representation and programming.
