By Takeo Igarashi, Mike Stilman (auth.), David Hsu, Volkan Isler, Jean-Claude Latombe, Ming C. Lin (eds.)
Robotics is on the cusp of dramatic transformation. more and more advanced robots with unparalleled autonomy are discovering new functions, from scientific surgical procedure, to building, to domestic companies. by contrast historical past, the algorithmic foundations of robotics have gotten extra the most important than ever, for you to construct robots which are quickly, secure, trustworthy, and adaptive. Algorithms allow robots to understand, plan, keep an eye on, and examine. The layout and research of robotic algorithms increase new basic questions that span computing device technology, electric engineering, mechanical engineering, and arithmetic. those algorithms also are discovering purposes past robotics, for instance, in modeling molecular movement and developing electronic characters for games and architectural simulation. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a hugely selective assembly of top researchers within the box of robotic algorithms. given that its construction in 1994, it has released a few of the field’s most vital and lasting contributions. This publication includes the lawsuits of the ninth WAFR, hung on December 13-15, 2010 on the nationwide college of Singapore. The 24 papers integrated during this publication span a large choice of subject matters from new theoretical insights to novel applications.
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Extra info for Algorithmic Foundations of Robotics IX: Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics
A global geometric framework for nonlinear dimensionality reduction. : A spatio-temporal extension to isomap nonlinear dimension reduction. In: Int. Conf. on Machine learning, p. 56. : Automatic motion planning for complex articulated bodies. In: Paris Research Laboratory, Tech. Rep. : Harmonic control. In: Proceedings of the IEEE International Symposium on Intelligent Control, pp. : Real-time knot-tying simulation. : Path planning for deformable linear objects. : A Path-Planning for Mobile Robot Leading Cable Around.
Fig. 4 previews the permissible values. An Equivalence Relation for Local Path Sets 27 When the condition in (3) is met, the two paths’ swaths overlap, resulting in a continuum of coverage between the paths. This coverage, in turn, ensures the existence of a continuous deformation, as we show in Theorem 1, but first we formally define a continuous deformation between paths. Definition 7. A continuous deformation between two safe, feasible paths pi and p j + ), with s− slightly less in F(s f , κmax ) is a continuous function f : [0, 1] → F(s−f , κmax f + slightly more than κ than s f and κmax max .
Durrant-Whyte calculation. Assuming Φu (x0 ,t) is given and the changed segments Φvi (Φu (x0 , Iu+i−1 ),t) and transformations gi have been calculated, the new trajectory Φv (x0 ,t) is computed efficiently using group operations only. Iteratively applying (4) yields Φvi (Φv (x0 , Iv+i−1 ),t) = gi−1 . . g1 Φvi (Φu (x0 , Iu+i−1 ),t) and thus Φv (x0 ,t)= Φv1 (x0 ,t)∗g1 Φv2 (Φu1 (x0 , Iu+1 ),t)∗. ∗gn−1 . . g1 Φvn (Φun−1 (x0 , Iu+n−1 ),t) . In particular, one can write the final state of the trajectory as Φv (x0 , Iv+ ) = gn .