Why are the many highly capable autonomous robots that have been promised for novel applications driven by society, industry, and research not available - day despite the tremendous progress in robotics science and systems achieved during the last decades? Unfortunately, steady improvements in speci?c robot abilities and robot hardware have not been matched by corresponding robot performance in real world environments. This is mainly due to the lack of - vancements in robot software that master the development of robotic systems of ever increasing complexity. In addition, fundamental open problems are still awaiting sound answers while the development of new robotics applications s- fersfromthelackofwidelyusedtools,libraries,andalgorithmsthataredesigned in a modular and performant manner with standardized interfaces. Simulation environments are playing a major role not only in reducing development time and cost, e. g. , by systematic software- or hardware-in-the-loop testing of robot performance, but also in exploring new types of robots and applications. H- ever,their use may still be regardedwith skepticism. Seamless migrationof code using robot simulators to real-world systems is still a rare circumstance, due to the complexity of robot, world, sensor, and actuator modeling. These challenges drive the quest for the next generation of methodologies and tools for robot development. The objective of the International Conference on Simulation, Modeling, and ProgrammingforAutonomous Robots (SIMPAR) is to o?er a unique forum for these topics and to bring together researchersfrom academia and industry to identify and solve the key issues necessary to ease the development of increasingly complex robot software.
Author(s): Brian P. Gerkey (auth.), Noriaki Ando, Stephen Balakirsky, Thomas Hemker, Monica Reggiani, Oskar von Stryk (eds.)
Series: Lecture Notes in Computer Science 6472 : Lecture Notes in Artificial Intelligence
Edition: 1
Publisher: Springer-Verlag Berlin Heidelberg
Year: 2010
Language: English
Pages: 558
Tags: Artificial Intelligence (incl. Robotics); Simulation and Modeling; User Interfaces and Human Computer Interaction; Computation by Abstract Devices; Computer Communication Networks; Software Engineering
Front Matter....Pages -
Building Blocks for Mobile Manipulation....Pages 1-1
Natural Human-Robot Interaction....Pages 2-2
Robots and the Human....Pages 3-4
The Modelica Object-Oriented Equation-Based Language and Its OpenModelica Environment with MetaModeling, Interoperability, and Parallel Execution....Pages 5-14
Blender for Robotics: Integration into the Leuven Paradigm for Robot Task Specification and Human Motion Estimation....Pages 15-25
Simulating the C2SM ‘Fast’ Robot....Pages 26-37
Extending Open Dynamics Engine for Robotics Simulation....Pages 38-50
Virtual Robot Experimentation Platform V-REP: A Versatile 3D Robot Simulator....Pages 51-62
Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors....Pages 63-74
High Fidelity Sensor Simulations for the Virtual Autonomous Navigation Environment....Pages 75-86
GPS/Galileo Testbed Using a High Precision Optical Positioning System....Pages 87-96
Validating Vision and Robotic Algorithms for Dynamic Real World Environments....Pages 97-108
OpenGRASP: A Toolkit for Robot Grasping Simulation....Pages 109-120
NERD Neurodynamics and Evolutionary Robotics Development Kit....Pages 121-132
Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations....Pages 133-143
Evaluating a Physics Engine as an Ingredient for Physical Reasoning....Pages 144-155
Simulating Vehicle Kinematics with SimVis3D and Newton....Pages 156-167
Coordinating Software Components in a Component-Based Architecture for Robotics....Pages 168-179
Native Robot Software Framework Inter-operation....Pages 180-191
Run-Time Management of Component-Based Robot Software from a Command Line....Pages 192-203
Modelling Behaviour Requirements for Automatic Interpretation, Simulation and Deployment....Pages 204-216
Implementing Automated Robot Task Planning and Execution Based on Description Logic KB....Pages 217-228
On the Way to High-Level Programming for Resource-Limited Embedded Systems with Golog....Pages 229-240
RobustHX - The Robust Middleware Library for Hexor Robots....Pages 241-250
RoboComp: A Tool-Based Robotics Framework....Pages 251-262
Improving a Robotics Framework with Real-Time and High-Performance Features....Pages 263-274
Implementation of Distributed Production System for Heterogeneous Multiprocessor Robotic Systems....Pages 275-287
Robot Programming by Demonstration....Pages 288-299
Design Principles of the Component-Based Robot Software Framework Fawkes....Pages 300-311
Handling Hardware Heterogeneity through Rich Interfaces in a Component Model for Autonomous Robotics....Pages 312-323
Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering....Pages 324-335
Using Simulation to Assess the Effectiveness of Pallet Stacking Methods....Pages 336-349
Analysing Mixed Reality Simulation for Industrial Applications: A Case Study in the Development of a Robotic Screw Remover System....Pages 350-361
A Parameterless Biologically Inspired Control Algorithm Robust to Nonlinearities, Dead-Times and Low-Pass Filtering Effects....Pages 362-373
Exploration Strategies for a Robot with a Continously Rotating 3D Scanner....Pages 374-386
Validating an Active Stereo System Using USARSim....Pages 387-398
Performance Analysis for Multi-robot Exploration Strategies....Pages 399-410
Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control....Pages 411-422
Static Balance for Rescue Robot Navigation: Discretizing Rotational Motion within Random Step Environment....Pages 423-435
Discovery, Localization and Recognition of Smart Objects by a Mobile Robot....Pages 436-448
Simulation for the Optimal Design of a Biped Robot: Analysis of Energy Consumption....Pages 449-460
Efficient Use of 3D Environment Models for Mobile Robot Simulation and Localization....Pages 461-472
Decision and Coordination Strategies for RoboCup Rescue Agents....Pages 473-484
Swarm Dispersion via Potential Fields, Leader Election, and Counting Hops....Pages 485-496
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness....Pages 497-508
Different Approaches in Feeding of a Flexible Manufacturing Cell....Pages 509-520
On the Stability of Bipedal Walking....Pages 521-532
An Approach to Close the Gap between Simulation and Real Robots....Pages 533-544
Accelerating Point-Based POMDP Algorithms via Greedy Strategies....Pages 545-556
Back Matter....Pages -
