Algorithmic Foundations of Robotics VI / Edition 1

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Robot algorithms are abstractions of computational processes that control or reason about motion and perception in the physical world. Because actions in the physical world are subject to physical laws and geometric constraints, the design and analysis of robot algorithms raise a unique combination of questions in control theory, computational and differential geometry, and computer science. Algorithms serve as a unifying theme in the multi-disciplinary field of robotics.

This volume consists of selected contributions to the sixth Workshop on the Algorithmic Foundations of Robotics. This is a highly competitive meeting of experts in the field of algorithmic issues related to robotics and automation.

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Product Details

  • ISBN-13: 9783540257288
  • Publisher: Springer Berlin Heidelberg
  • Publication date: 8/11/2005
  • Series: Springer Tracts in Advanced Robotics Series, #17
  • Edition description: 2005
  • Edition number: 1
  • Pages: 456
  • Product dimensions: 1.00 (w) x 6.14 (h) x 9.21 (d)

Table of Contents

Algorithmic challenges in structural molecular biology and proteomics 1
Networked robots : ten years of experiments 11
Algorithmic foundation of the Clockwork Orange robot soccer team 17
Uniform coverage of simple surfaces embedded in R[superscript 3] for auto-body painting 27
Stealth tracking of an unpredictable target among obstacles 43
Multi-step motion planning for free-climbing robots 59
Sampling-based motion planning under kinematic loop-closure constraints 75
Composing navigation functions on Cartesian products of manifolds with boundary 91
Adaptive RRTs for validating hybrid robotic control systems 107
Collision free motion planning on graphs 123
Online searching with an autonomous robot 139
Competitive complexity of mobile robot on line motion planing problems 155
Pareto optimal coordination on roadmaps 171
Automatic generation of camera motion to track a moving guide 187
Computing deform closure grasps 203
Coordinating multiple droplets in planar array digital microfluidics systems 219
Topological mapping with sensing-limited robots 235
Locating and capturing an evader in a polygonal environment 251
Semi-differential invariants for recognition of algebraic curves 267
Modeling macromolecular machines using rigid-cluster networks 283
Fast tree-based exploration of state space for robots with dynamics 297
Incremental grid sampling strategies in robotics 313
Toward complete path planning for planar 3R-manipulators among point obstacles 329
Computing protein structures from electron density maps : the missing fragment problem 345
A machine learning approach for feature-sensitive motion planning 361
Probik : protein backbone motion by inverse kinematics 377
Randomized algorithms for minimum distance localization 393
Multi-point contact models for dynamic self-righting of a hexapod 409
Gap navigation trees : a minimal representation for visibility-based tasks 425
A simple algorithm for complete motion planning of translating polyhedral robots 441
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