By Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez, Nicholas Roy, Daniela Rus (eds.)

ISBN-10: 3642362788

ISBN-13: 9783642362781

ISBN-10: 3642362796

ISBN-13: 9783642362798

Algorithms are a basic component to robot platforms. robotic algorithms strategy inputs from sensors that supply noisy and partial information, construct geometric and actual types of the area, plan high-and low-level activities at various time horizons, and execute those activities on actuators with constrained precision. The layout and research of robotic algorithms bring up a special blend of questions from many elds, together with keep watch over conception, computational geometry and topology, geometrical and actual modeling, reasoning lower than uncertainty, probabilistic algorithms, video game thought, and theoretical computing device science.

The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track assembly of prime researchers within the eld of robotic algorithms. on account that its inception in 1994, WAFR has been held any other 12 months, and has supplied one of many most effective venues for the booklet of a few of the eld's most crucial and lasting contributions.

This books comprises the lawsuits of the 10th WAFR, hung on June 13{15 2012 on the Massachusetts Institute of expertise. The 37 papers integrated during this booklet conceal a large diversity of subject matters, from basic theoretical matters in robotic movement making plans, keep an eye on, and conception, to novel applications.

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Additional info for Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics

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If g is linear, the equations are ng · pv + d = 0 or θ ng · pv + d = 0 with d an LTE (Fig. 7d). The solutions are the same as for the tangency equations. A type 1 criticality that coincides with a circular edge hit is not counted as a type 2 criticality. There are three cases based on the signed radii of the incident edges. We omit the proof that these are the only cases up to symmetry. Let edges e, f ∈ F meet at v and g, h ∈ −M meet at w. The analysis uses a coordinate system in which nv is the y axis and the critical angle is 0.

This section provides an overview of these two topics and their relationship to the proposed work. 1 NAMO Planning Navigation and manipulation planning poses a significant computational challenge even with complete environment information. Wilfong [23] first proved that deterministic NAMO with an un-constrained number of obstacles is NP-hard. Demaine [3] further showed that even the simplified version of this problem, in which only unit square obstacles are considered, is also NP-hard. In [18], Stilman presented a planner that solved a subclass of NAMO problems termed LP1 where disconnected components of free space could be connected independently by moving a single obstacle.

Artificial Intelligence 81(1-2), 81–109 (1996) The Minimum Constraint Removal Problem with Three Robotics Applications 17 13. : Complexity of the mover’s problem and generalizations. In: 20th Annual IEEE Symposium on Foundations of Computer Science, San Juan, Puerto Rico, pp. 421–427 (1979) 14. : Navigation among movable obstacles: Real-time reasoning in complex environments. International Journal of Humanoid Robotics 2(4) (December 2005) 15. : Approximation Algorithms. Springer (2001) 16. : A simple path non-existence algorithm using cobstacle query.

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Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics by Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez, Nicholas Roy, Daniela Rus (eds.)

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