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Algorithmic Foundations of Robotics XII
This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of rob...
Algorithmic Foundations of Robotics IX
Robotics is at the cusp of dramatic transformation. Increasingly complex robots with unprecedented autonomy are finding new applications, from medical surgery, to construction, to home services. Against this background, the algorithmic foundations of robotics are becoming more crucial than ever, in order to build robots that are fast, safe, reliable, and adaptive. Algorithms enable robots to perceive, plan, control, and learn. The design and analysis of robot algorithms raise new fundamental questions that span computer science, electrical engineering, mechanical engineering, and mathematics. These algorithms are also finding applications beyond robotics, for example, in modeling molecular m...
Algorithmic Foundations of Robotics X
Algorithms are a fundamental component of robotic systems. Robot algorithms process inputs from sensors that provide noisy and partial data, build geometric and physical models of the world, plan high-and low-level actions at different time horizons, and execute these actions on actuators with limited precision. The design and analysis of robot algorithms raise a unique combination of questions from many elds, including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track meeting o...
Algorithmic Foundations of Robotics VIII
This book contains selected contributions to WAFR, the highly-competitive meeting on the algorithmic foundations of robotics. They address the unique combination of questions that the design and analysis of robot algorithms inspires.
Advances on Robotic Item Picking
This book is a compilation of advanced research and applications on robotic item picking and warehouse automation for e-commerce applications. The works in this book are based on results that came out of the Amazon Robotics Challenge from 2015-2017, which focused on fully automated item picking in a warehouse setting, a topic that has been assumed too complicated to solve or has been reduced to a more tractable form of bin picking or single-item table top picking. The book’s contributions reveal some of the top solutions presented from the 50 participant teams. Each solution works to address the time-constraint, accuracy, complexity, and other difficulties that come with warehouse item pic...
The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue
The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015. The competition was the culmination of 33 months of demanding work by 23 teams and required humanoid robots to perform challenging locomotion and manipulation tasks in a mock disaster site. The challenge was conceived as a response to the Japanese Fukushima nuclear disaster of March 2011. The Fukushima disaster was seen as an ideal candidate for robotic intervention since the risk of exposure to radiation prevented human responders from accessing the site. This volume, edited by Matthew Spenko, Stephen Buerger, and Karl Iagnemma, includes commentary by the organizers, overall analy...
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.
Robotics Research
The International Symposium of Robotics Research (ISRR) continues to be the premiere meeting of the International Foundation of Robotics Research (IFRR). The 13th International Symposium of Robotics Research took place Novemb3r 26-29, 2007, in Hiroshima, Japan, and was organized by the two editors of this book. This volume brings a collection of a broad range of topics in robotics. The content of these contributions provides 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 novel areas of applications. Historically, the proceedings of the ISRR have featured ground-breaking work of the highest caliber, which influenced generations to come. The present volume promises to be no exception. The collection of scientific articles in this volume provides new insights to important problems in robotics, written by some of the leaders in the field.
Algorithmic Foundations of Robotics XIII
This book gathers the outcomes of the thirteenth Workshop on the Algorithmic Foundations of Robotics (WAFR), the premier event for showcasing cutting-edge research on algorithmic robotics. The latest WAFR, held at Universidad Politécnica de Yucatán in Mérida, México on December 9–11, 2018, continued this tradition. This book contains fifty-four papers presented at WAFR, which highlight the latest research on fundamental algorithmic robotics (e.g., planning, learning, navigation, control, manipulation, optimality, completeness, and complexity) demonstrated through several applications involving multi-robot systems, perception, and contact manipulation. Addressing a diverse range of topics in papers prepared by expert contributors, the book reflects the state of the art and outlines future directions in the field of algorithmic robotics.
Gait Optimization for Multi-legged Walking Robots, with Application to a Lunar Hexapod
The interest in using legged robots for a variety of terrestrial and space applications has grown steadily since the 1960s. At the present time, a large fraction of these robots relies on electric motors at the joints to achieve mobility. The load distributions inherent to walking, coupled with design constraints, can cause the motors to operate near their maximum torque capabilities or even reach saturation. This is especially true in applications like space exploration, where critical mass and power constraints limit the size of the actuators. Consequently, these robots can benefit greatly from motion optimization algorithms that guarantee successful walking with maximum margin to saturati...
