Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics

623 Pages·2013·24.59 MB·English

by  Kris Hauser (auth.)

Springer Tracts in Advanced Robotics 86
Editors
Prof.BrunoSiciliano Prof.OussamaKhatib
DipartimentodiIngegneriaElettrica ArtificialIntelligenceLaboratory
eTecnologiedell’Informazione DepartmentofComputerScience
UniversitàdegliStudidiNapoli StanfordUniversity
FedericoII Stanford,CA94305-9010
ViaClaudio21,80125Napoli USA
Italy E-mail:[email protected]
E-mail:[email protected]
Forfurthervolumes:
http://www.springer.com/series/5208
EditorialAdvisoryBoard
OliverBrock,TUBerlin,Germany
HermanBruyninckx,KULeuven,Belgium
RajaChatila,ISIR-UPMC&CNRS,France
HenrikChristensen,GeorgiaTech,USA
PeterCorke,QueenslandUniv.Technology,Australia
PaoloDario,ScuolaS.AnnaPisa,Italy
RüdigerDillmann,Univ.Karlsruhe,Germany
KenGoldberg,UCBerkeley,USA
JohnHollerbach,Univ.Utah,USA
MakotoKaneko,OsakaUniv.,Japan
LydiaKavraki,RiceUniv.,USA
VijayKumar,Univ.Pennsylvania,USA
SukhanLee,SungkyunkwanUniv.,Korea
FrankPark,SeoulNationalUniv.,Korea
TimSalcudean,Univ.BritishColumbia,Canada
RolandSiegwart,ETHZurich,Switzerland
GauravSukhatme,Univ.SouthernCalifornia,USA
SebastianThrun,StanfordUniv.,USA
YangshengXu,ChineseUniv.HongKong,PRC
Shin’ichiYuta,TsukubaUniv.,Japan
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Emilio Frazzoli, Tomás Lozano-Pérez, Nicholas Roy,
and Daniela Rus (Eds.)
Algorithmic Foundations
of Robotics X
Proceedings of the Tenth Workshop
on the Algorithmic Foundations of Robotics
ABC
Editors
Prof.EmilioFrazzoli Prof.NicholasRoy
MassachusettsInstituteofTechnology MassachusettsInstituteofTechnology
Cambridge Cambridge
USA USA
Prof.TomásLozano-Pérez Prof.DanielaRus
MassachusettsInstituteofTechnology MassachusettsInstituteofTechnology
Cambridge Cambridge
USA USA
ISSN1610-7438 e-ISSN1610-742X
ISBN978-3-642-36278-1 e-ISBN978-3-642-36279-8
DOI10.1007/978-3-642-36279-8
SpringerHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2012956289
(cid:2)c Springer-VerlagBerlinHeidelberg2013
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Foreword
Robotics is undergoing a major transformation in scope and dimension. From a
largely dominant industrial focus, robotics is rapidly expanding into human envi-
ronmentsandvigorouslyengagedinitsnewchallenges.Interactingwith,assisting,
serving, and exploring with humans, the emerging robots will increasingly touch
peopleandtheirlives.
Beyondits impacton physicalrobots,the bodyof knowledgeroboticshaspro-
duced is revealing a much wider range of applications reaching across diverse
research areas and scientific disciplines, such as: biomechanics, haptics, neuro-
sciences,virtualsimulation,animation,surgery,andsensornetworksamongothers.
Inreturn,thechallengesofthenewemergingareasareprovinganabundantsource
ofstimulationandinsightsforthefieldofrobotics.Itisindeedattheintersectionof
disciplinesthatthemoststrikingadvanceshappen.
TheSpringerTractsin AdvancedRobotics(STAR)isdevotedtobringingtothe
research community the latest advances in the robotics field on the basis of their
significance and quality. Through a wide and timely dissemination of critical re-
searchdevelopmentsin robotics,ourobjectivewith this seriesis to promotemore
exchanges and collaborations among the researchers in the community and con-
tributetofurtheradvancementsinthisrapidlygrowingfield.
Since its inception in 1994, the biennial Workshop Algorithmic Foundationsof
Robotics (WAFR) has established some of the field’s most fundamental and last-
ingcontributions.SincethelaunchingofSTAR,WAFRandseveralotherthematic
symposiainroboticsfindanimportantplatformforcloserlinksandextendedreach
withintheroboticscommunity.
ThisvolumeistheoutcomeoftheWAFR tentheditionandiseditedbyEmilio
Frazzoli, Toma´s Lozano-Pe´rez, Nicholas Roy and Daniela Rus. The book
offers a collection ranging from foundational topics in robot motion planning,
control and perception, through well-established topics in multi-agent systems,
distributedroboticsandplanningunderuncertainty,toemergingtopicsinminimal-
isticrobotics,interactionwiththeenvironment,andbehaviourofgroupsofhumans
orhuman-controlledvehicles.
VI Foreword
Thecontentsofthethirty-sevencontributionsrepresentacross-sectionofthecur-
rentstate of researchfromone particularaspect:algorithms,andhow theyare in-
spiredbyclassicaldisciplines,suchascontroltheory,computationalgeometryand
topology, geometrical and physical modelling, reasoning under uncertainty, prob-
abilistic algorithms, game theory, and theoretical computer science. Validation of
algorithms,design concepts,or techniquesis the commonthread runningthrough
thisfocusedcollection.
Richbytopicsandauthoritativecontributors,WAFRculminateswiththisunique
referenceonthecurrentdevelopmentsandnewdirectionsinthefieldofalgorithmic
foundations.Averyfineadditiontotheseries!
December2012 BrunoSiciliano
Naples,Italy STAREditor
Preface
Algorithmsareafundamentalcomponentofroboticsystems.Robotalgorithmspro-
cess inputs from sensors that provide noisy and partial data, build geometric and
physicalmodelsoftheworld,planhigh-andlow-levelactionsatdifferenttimehori-
zons,andexecutetheseactionsonactuatorswithlimitedprecision.Thedesignand
analysis of robot algorithms raise a unique combination of questions from many
fields,includingcontroltheory,computationalgeometryandtopology,geometrical
andphysicalmodeling,reasoningunderuncertainty,probabilisticalgorithms,game
theory,andtheoreticalcomputerscience.
TheWorkshoponAlgorithmicFoundationsofRobotics(WAFR)isasingle-track
meetingofleadingresearchersinthe field of robotalgorithms.Since its inception
in 1994, WAFR has been held every other year, and has providedone of the pre-
mierevenuesforthe publicationof someof the field’smostimportantandlasting
contributions, ensured the rapid circulation of new ideas, and served as a catalyst
forproductivecollaborations.
ThefocusofWAFRisonthedesignandanalysisofrobotalgorithmsfromboth
theoreticaland practicalangles. The topics of interest are very broad,as exempli-
fied by the program of its tenth edition, in 2012. In addition to several papers on
fundamentalalgorithmicissues in robotmotionplanning,control,and perception,
andinwell-establishedareassuchasmulti-agentsystemsanddistributedrobotics,
planningunderuncertainty,andsampling-basedalgorithms,severalpapersconcen-
trate on emerging areas including minimalistic robotics, interaction with the en-
vironment, and the use of robotics-inspired algorithms to model and interpret the
behaviorofgroupsofhumansorhuman-controlledvehicles.
ThetentheditionofWAFR washeldonJune13–152012attheMassachusetts
InstituteofTechnology,inCambridge,Massachusetts.Ithadastrongprogramof37
contributedpapers, selected from74 submissionsfromleadingresearchersworld-
wide. Each paper was rigorously reviewed by at least three program committee
members, with additional input from external reviewers. The authors of selected
papers were invited to submit expanded versions of their WAFR 2012 papers to
special issues of the International Journal of Robotics Research and of the IEEE
TransactionsonAutomationScienceandEngineering.Theworkshopalsofeatured
VIII Preface
5 invited speakers: Bruce Donald (Duke University), Geoff Gordon (Carnegie-
MellonUniversity),DavidHsu(NationalUniversityofSingapore),AndreasKrause
(ETHZu¨rich),andAntonioTorralba(MassachusettsInstituteofTechnology).
Organizing this workshop was an exciting experience, allowing us to work in
closecontactwithsomeofthemosttalentedroboticistsworldwide.Wearegrateful
totheWAFRsteeringcommitteefortheirinspiringguidance,totheprogramcom-
mitteefortheirdedicatedeffortsinensuringthehighestqualitystandards,andabove
alltotheauthorsforsubmittingtheircutting-edgeworkandtotheparticipantsfor
ensuringthesuccessoftheworkshop.
EmilioFrazzoli
Toma´sLozano-Pe´rez
NicholasRoy
DanielaRus
Organization
Steering Committee
NancyAmato TexasA&MUniversity
DanielaRus MassachusettsInstituteofTechnology
OliverBrock TechnischeUniversita¨tBerlin
DavidHsu NationalUniversityofSingapore
KenGoldberg UniversityofCalifornia,Berkeley
SethHutchinson UniversityofIllinois,Urbana-Champaign
LydiaKavraki RiceUniversity
FrankvanderStappen UniversiteitUtrecht
Jean-ClaudeLatombe StanfordUniversity
Program Committee
RonAlterovitz UniversityofNorthCarolina,ChapelHill
NancyAmato TexasA&MUniversity
J.AndrewBagnell CarnegieMellonUniversity
DevinBalkcom DartmouthCollege
KostasBekris RutgersUniversity
AntonioBicchi UniversityofPisa
EmmaBrunskill CarnegieMellonUniversity
HowieChoset CarnegieMellonUniversity
NikolausCorrell UniversityofColorado,Boulder
JorgeCortes UniversityofCalifornia,SanDiego
CarrickDetweiler UniversityofNebraska-Lincoln
MichaelErdmann CarnegieMellonUniversity
RyanEustice UniversityofMichigan
DavidHsu NationalUniversityofSingapore
VolkanIsler UniversityofMinnesota
VijayKumar UniversityofPennsylvania
X Organization
JeanPaulLaumond LAAS-CNRS,Toulouse
StevenM.LaValle UniversityofIllinois,Urbana-Champaign
DineshManocha UniversityofNorthCarolina,ChapelHill
SoniaMartinez UniversityofCalifornia,SanDiego
NathanMichael CarnegieMellonUniversity
ToddMurphey NorthwesternUniversity
MarcoPavone StanfordUniversity
ThierrySimeon LAAS-CNRS,Toulouse
SuryaSingh UniversityofQueensland
StephenSmith UniversityofWaterloo
SiddharthaSrinivasa CarnegieMellonUniversity
CyrillStachniss UniversityofFreiburg
SubhashSuri UniversityofCalifornia,SantaBarbara
JurVandenberg UniversityofUtah