Robotics: The Algorithmic Perspective: WAFR 1998

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Overview

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 of robotic algorithms in domains like molecular modeling, geometric modeling, and computer-assisted surgery.

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Editorial Reviews

Booknews
This volume gathers together the 29 papers presented at the March 1998 workshop held at Rice University, and gives an 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 of robotics algorithms in domains like molecular modeling, geometric modeling, and computer-assisted surgery. No index. Annotation c. by Book News, Inc., Portland, Or.
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Product Details

Table of Contents

Foreword
Participants
Algorithmic MEMS 1
Universal Part Manipulation in the Plane with a Single Horizontally-Vibrating Plate 21
Velocity Field Design for the Modular Distributed Manipulator System (MDMS) 35
The Complexity of the Two Dimensional Curvature-Constrained Shortest-Path Problem 49
Approximation and Decision Algorithms for Curvature-Constrained Path Planning: A State-Space Approach 59
Elastic Bands for Nonholonomic Car-Like Robots: Algorithms and Combinatorial Issues 69
Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion 81
Mechanics, Planning, and Control for Tapping 91
Planning for In-Hand Dextrous Manipulation 103
Shape Recovery from Passive Locally Dense Tactile Data 119
Geometric Algorithms in AdeptRAPID 133
On Finding Narrow Passages with Probabilistic Roadmap Planners 141
OBPRM: An Obstacle-Based PRM for 3D Workspaces 155
Subdivision: A Technique for Modeling Curved Shape 169
Spherical Shell: A Higher Order Bounding Volume for Fast Proximity Queries 177
Kinetic Data Structures: A State of the Art Report 191
The Polygon Exploration Problem: A New Strategy and a New Analysis Technique 211
The Computational Power of Frictional Mechanical Systems 223
Issues in Nonprehensile Manipulation 237
Local Observability of Rolling 251
Geometry for Modeling Biomolecules 265
Algorithms for Fence Design 279
Shape Tolerance in Feeding and Fixturing 297
Towards Planning for Elastic Objects 313
Models and Algorithms for the Collision of Rigid and Deformable Bodies 327
Numerical Computation of Optimal Navigation Functions on a Simplical Complex 339
Synergistic Robots for Surgery: An Algorithmic View of the Approach 351
Fourier Methods on Groups: Applications in Robot Kinematics and Motion Planning 363
The Self-Reconfiguring Robotic Molecule: Design and Control Algorithms 375
Author Index 389
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