Robotics: Science and Systems V spans a wide spectrum of robotics, bringing together researchers working on the foundations of robotics, robotics applications, and the analysis of robotics systems. This volume presents the proceedings of the fifth annual Robotics: Science and Systems conference, held in 2009 at the University of Washington in Seattle. The papers presented cover a range of topics, including manipulation, locomotion, machine learning, localization, visual SLAM, haptics, and biologically inspired design. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.--------------------------------------------------------------------------------Сборник составлен по материалам международной конференции Робототехника: Наука и Система, прошедшей в 2009 году в Сиэтле (США).
Author(s): Jeff Trinkle, Yoky Matsuoka, and Jose A. Castellanos
Publisher: Massachusetts Institute of Technology
Year: 2010
Language: English
Pages: 321
Tags: Автоматизация;Робототехнические системы (РТС);Научные статьи и сборники
Contents......Page 6
Preface......Page 8
Cooperative Manipulation and Transportation with Aerial Robots......Page 10
Learning of 2D Grasping Strategies from Box-based 3D Object Approximations......Page 18
LQR-Trees......Page 26
Human Motion Database with a Binary Tree and Node Transition Graphs......Page 34
Explicit Parametrizations of the Configuration Spaces of Anthropomorphic Multi-linkage Systems......Page 42
Approximating Displacement with the Body Velocity Integral......Page 50
Tactile Texture Recognition with a 3-axial Force MEMS Integrated Artificial Finger......Page 58
On the Complexity of the Set of Three-finger Caging Grasps of Convex Polygons......Page 66
On the Consistency of Multi-robot Cooperative Localization......Page 74
Inner Sphere Treesfor Proximity and Penetration Queries......Page 82
Using the Distribution Theory to Simultaneously Calibrate the Sensors of a Mobile Robot......Page 90
Planning Motion in Environments with Similar Obstacles......Page 98
Robust Visual Homing with Landmark Angles......Page 106
Rut Detection and Following for Autonomous Ground Vehicles......Page 114
Unsupervised Discovery of Object Classes from Range Data Using Latent Dirichlet Allocation......Page 122
Towards Cyclic Fabrication Systems for Modular Robotics and Rapid Manufacturing......Page 130
Setpoint Regulation for Stochastically Interacting Robots......Page 138
Centralized Path Planning for Multiple Robots......Page 146
Accurate Rough Terrain Estimation with Space-Carving Kernels......Page 154
View-based Maps......Page 162
Generalized-ICP......Page 170
3D Laser Scan Classification Using Web Data and Domain Adaptation......Page 178
Adaptive Relative Bundle Adjustment......Page 186
Underwater Human-Robot Interaction via Biological Motion Identification......Page 194
Robustness of the Unscented Kalman Filter for State and Parameter Estimation in an Elastic Transmission......Page 202
POMDPs for Robotic Tasks with Mixed Observability......Page 210
Policy Search via the Signed Derivative......Page 218
Non-parametric Learning to Aid Path Planning Over Slopes......Page 226
Learning GP-BayesFilters via Gaussian Process Latent Variable Models......Page 234
3D Relative Pose Estimation from Six Distances......Page 242
An Ab-initio Tree-based Exploration to Enhance Sampling of Low-energy Protein Conformations......Page 250
Cellular Muscle Actuators with Variable Resonant Frequencies......Page 258
Positioning Unmanned Aerial Vehicles as Communication Relays for Surveillance Tasks......Page 266
Efficient, Guaranteed Search with Multi-agent Teams......Page 274
Time-extended Multi-robot Coordination for Domains with Intra-path Constraints......Page 282
Bridging the Gap between Passivity and Transparency......Page 290
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths......Page 298
Large Scale Graph-based SLAM Using Aerial Images as Prior Information......Page 306
Highly Scalable Appearance-only SLAM –FAB-MAP 2.0......Page 314
