Algorithmic Foundations of Robotics IX

Algorithmic Foundations of Robotics IX

Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics
David Hsu, Volkan Isler, Jean-Claude Latombe, Ming C. Lin (Eds.)

Table of Contents
Session I
Homotopic Path Planning on Manifolds for Cabled Mobile Robots - Takeo Igarashi, Mike Stilman - Pages 1-18
An Equivalence Relation for Local Path Sets - Ross A. Knepper, Siddhartha S. Srinivasa, Matthew T. Mason - Pages 19-35
Using Lie Group Symmetries for Fast Corrective Motion Planning - Konstantin Seiler, Surya P. N. Singh, Hugh Durrant-Whyte - Pages 37-52
Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics - Devin K. Grady, Kostas E. Bekris, Lydia E. Kavraki - Pages 53-70
Session II
Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games - Sertac Karaman, Emilio Frazzoli - Pages 71-87
Multiagent Pursuit Evasion, or Playing Kabaddi - Kyle Klein, Subhash Suri - Pages 89-104
Reconfiguring Chain-Type Modular Robots Based on the Carpenter’s Rule Theorem - Jungwon Seo, Steven Gray, Vijay Kumar, Mark Yim - Pages 105-120
Robomotion: Scalable, Physically Stable Locomotion for Self-reconfigurable Robots - Sam Slee, John Reif - Pages 121-137
Session III
Adaptive Time Stepping in Real-Time Motion Planning - Kris Hauser - Pages 139-155
The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping - Michael Kaess, Viorela Ila, Richard Roberts, Frank Dellaert - Pages 157-173
Monte Carlo Value Iteration for Continuous-State POMDPs - Haoyu Bai, David Hsu, Wee Sun Lee, Vien A. Ngo - Pages 175-191
Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces - Kris Hauser - Pages 193-209
Session IV
GPU-Based Parallel Collision Detection for Real-Time Motion Planning - Jia Pan, Dinesh Manocha - Pages 211-228
CCQ: Efficient Local Planning Using Connection Collision Query - Min Tang, Young J. Kim, Dinesh Manocha - Pages 229-247
Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation - Evan Drumwright, Dylan A. Shell - Pages 249-266
Energy-Based Modeling of Tangential Compliance in 3-Dimensional Impact - Yan-Bin Jia - Pages 267-284 Session V
Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners - Oren Nechushtan, Barak Raveh, Dan Halperin - Pages 285-301
Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms - Dmitry S. Yershov, Steven M. LaValle - Pages 303-320
Grasp Invariance - Alberto Rodriguez, Matthew T. Mason - Pages 321-336
Session V
Path Planning on Manifolds Using Randomized Higher-Dimensional Continuation - Josep M. Porta, Léonard Jaillet - Pages 337-353
Session VI
Algorithms and Analytic Solutions Using Sparse Residual Dipolar Couplings for High-Resolution Automated Protein Backbone Structure Determination by NMR - Anna Yershova, Chittaranjan Tripathy, Pei Zhou, Bruce Randall Donald - Pages 355-372
LQG-Based Planning, Sensing, and Control of Steerable Needles - Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg - Pages 373-389
Cyber Detectives: Determining When Robots or People Misbehave - Jingjin Yu, Steven M. LaValle - Pages 391-407
Gravity-Based Robotic Cloth Folding - Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel - Pages 409-424

Springer, Springer Tracts in Advanced Robotics - Volume 68, Hardback, english, 441 pages