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 complicated robots with unparalleled autonomy are discovering new purposes, from scientific surgical procedure, to development, to domestic providers. in contrast heritage, the algorithmic foundations of robotics have gotten extra an important than ever, that allows you to construct robots which are speedy, secure, trustworthy, and adaptive. Algorithms permit robots to understand, plan, keep watch over, and research. The layout and research of robotic algorithms increase new primary questions that span machine technology, electric engineering, mechanical engineering, and arithmetic. those algorithms also are discovering purposes past robotics, for instance, in modeling molecular movement and growing electronic characters for games and architectural simulation. The Workshop on Algorithmic Foundations of Robotics (WAFR) is a hugely selective assembly of major researchers within the box of robotic algorithms. for the reason that its construction in 1994, it has released a few of the field’s most vital and lasting contributions. This booklet comprises the lawsuits of the ninth WAFR, hung on December 13-15, 2010 on the nationwide collage of Singapore. The 24 papers integrated during this booklet span a wide selection 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
T. Mason (a) (b) Fig. 8 (a) With bounded curvature, there is a lower bound on path lengths that permit a hole, h, while satisfying (3). Shorter path lengths ensure the existence of a safe continuous deformation between paths. (b) We compute the maximal path length that prevents a hole using Vendittelli’s solution to the shortest path for a Dubins car. Starting from the dot marked s, we find the shortest path intersecting the circle D. The interval pei illustrates path lengths permitting a hole to exist.
Conf. on Intelligent Robots and System, vol. : Path deformation roadmaps. In: Algorithmic Foundation of Robotics VII, pp. : Computing minimum length paths of a given homotopy class. : Polytime algorithm for the shortest path in a homotopy class amidst semi-algebraic obstacles in the plane. In: ISSAC 1998: Proceedings of the 1998 Int. Symp. on Symbolic and algebraic computation, pp. : Search-based Path Planning with Homotopy Class Constraints. In: Proceedings of the Conference on Artificial Intelligence, AAAI (2010) 18 T.
A variety of sensor-based planning algorithms have been developed to handle such partial information. Obstacle avoidance methods, such as potential fields , are purely reactive. The bug algorithm , which generates a path to the goal using only a contact sensor, is complete in 2D. Choset and Burdick  present the hierarchical generalized Voronoi graph, a roadmap with global line-of-sight accessibility that achieves completeness in higher dimensions using range readings of the environment.
Algorithmic Foundations of Robotics IX: Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics by Takeo Igarashi, Mike Stilman (auth.), David Hsu, Volkan Isler, Jean-Claude Latombe, Ming C. Lin (eds.)