Table Of ContentSpringer Tracts in Advanced Robotics
Volume 44
Editors:BrunoSiciliano·OussamaKhatib·FransGroen
Herman Bruyninckx, Libor Pˇreucˇil,
Miroslav Kulich (Eds.)
European Robotics
Symposium 2008
ABC
ProfessorBrunoSiciliano, Dipartimento diInformatica eSistemistica, Università diNapoli Federico II,
ViaClaudio21,80125Napoli,Italy,E-mail:[email protected]
ProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,
Stanford,CA94305-9010,USA,E-mail:[email protected]
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098SJAmsterdam,TheNetherlands,E-mail:[email protected]
Editors
Dr.ir.HermanBruyninckx Dr.MiroslavKulich
KatholiekeUniversiteitLeuven DepartmentofCybernetics
DepartmentofMechanicalEngineering FacultyofElectricalEngineering
DivisionofProductionEngineering CzechTechnicalUniversity
MachineDesign&Automation(PMA) Technická2
Celestijnenlaan300B 16627Prague6
B-3001Leuven(Heverlee) CzechRepublic
Belgium E-mail:[email protected]
Email:[email protected]
Dr.LiborPˇreucˇil
DepartmentofCybernetics
FacultyofElectricalEngineering
CzechTechnicalUniversity
Technická2
16627Prague6
CzechRepublic
E-mail:[email protected]
ISBN978-3-540-78315-2 e-ISBN978-3-540-78317-6
DOI 10.1007/978-3-540-78317-6
SpringerTractsinAdvancedRobotics ISSN1610-7438
LibraryofCongressControlNumber:2008921244
(cid:2)c2008Springer-VerlagBerlinHeidelberg
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EditorialAdvisoryBoard
HermanBruyninckx,KULeuven,Belgium
RajaChatila,LAAS,France
HenrikChristensen,GeorgiaInstituteofTechnology,USA
PeterCorke,CSIRO,Australia
PaoloDario,ScuolaSuperioreSant’AnnaPisa,Italy
RüdigerDillmann,UniversitätKarlsruhe,Germany
KenGoldberg,UCBerkeley,USA
JohnHollerbach,UniversityofUtah,USA
MakotoKaneko,OsakaUniversity,Japan
LydiaKavraki,RiceUniversity,USA
SukhanLee,SungkyunkwanUniversity,Korea
TimSalcudean,UniversityofBritishColumbia,Canada
SebastianThrun,StanfordUniversity,USA
YangshengXu,ChineseUniversityofHongKong,PRC
Shin’ichiYuta,TsukubaUniversity,Japan
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Foreword
At the dawn of the new millennium, robotics is undergoing a major transformation in
scope and dimension. From a largely dominant industrial focus, robotics is rapidly
expanding into the challenges of unstructured environments. Interacting with, assist-
ing, serving, and exploring with humans, the emerging robots will increasingly touch
people and their lives.
The goal of the Springer Tracts in Advanced Robotics (STAR) series is to bring, in
a timely fashion, the latest advances and developments in robotics on the basis of their
significance and quality. It is our hope that the wider dissemination of research de-
velopments will stimulate more exchanges and collaborations among the research
community and contribute to further advancement of this rapidly growing field.
The European Robotics Symposium (EUROS) was launched in 2006 as an interna-
tional scientific single-track event promoted by EURON, the European Robotics
Network linking most of the European research teams since its inception in 2000.
Since then, EUROS has found its parental home under STAR, together with the other
thematic symposia devoted to excellence in robotics research: FSR, ISER, ISRR,
WAFR.
The Second edition has been prepared by Herman Bruyninckx, the new EURON
Coordinator, together with Miroslav Kulich and Libor Přeučil, the local organizers of
the event. The four key areas of the symposium are: cognition, autonomy, adaptivity,
and robustness. The contents of the thirty-five−chapter volume represent a cross-
section of forefront robotics research, with contributions on: vision and navigation,
localization and mapping, cooperation, coordination and multirobot systems, hu-
man−robot interaction, and robotics applications. Thanks to the conscientious coop-
eration of the contributors, to the committed work of the international programme
committee, and last but not least to the devotion of the editors, this volume has been
prepared in a record time to be available at the symposium.
From its warm social program to its excellent technical program, EUROS
culminates with this unique reference about robotics research in Europe and beyond.
A fine confirmation in the STAR series!
Naples, Italy Bruno Siciliano
January 2008 STAR Editor
Preface
TheEuropeanRoboticsResearchNetwork(EURON)togetherwiththeCzechTechni-
calUniversityinPragueisproudtopresentthesecondEuropeanRoboticsSymposium
2008 (EUROS 2008). The event aims to bring participants into the symbolic and at-
tractiveenvironmentofPrague,CzechRepublic,thebirthplaceoftheword”robot”and
bidstobeverysuccessfulsuccessorofthe1stEUROS2006inPalermo,foundinganew
roboticssymposiatrackinEurope.
EUROS 2008 continuesto providea single-trackand high quality scientific forum
andpresentsleadingedgeresearchonroboticsacrossthe latesttopicsin fundamental
research and applications. This years’ symposium key areas cover topics as: COG-
NITION, AUTONOMY, ADAPTIVITY and ROBUSTNESS in roboticswith main
targetingontheissuesrelatednamelyto:VisionandNavigation,LocalizationandMap-
ping, Cooperation, Coordination and Multirobot Systems, Human-Robot Interaction,
andRoboticsApplications.
TheinitialandcoreobjectivefororganizingEUROStrackofsymposiaistocross-
breed latest research and application results in order to improve mutual interlinking
ofthe Europeanroboticscommunityin thefield ofacademiawith industrialpartners.
Moreover,this years’added valueof the EUROS 2008standsin implementationof a
”2in1concept”representingboththe top-qualityscientific eventaswellaspromotion
ofextendedfeaturesforyoungresearchersandPhDstudents.Theyoungscientistsare
offeredtocomeintouchwithEuropeanleadingresearchlabsco-workersandtheirre-
sults. This is aimed to create a space to establish ”Ph.D. to industry” meetings with
presentroboticscompaniesandresearchlabsrepresentativesviainformalpresentation
ofownresearch,tolaunchfruitfuldiscussions,andeventofoundfutureco-operations
andotherjointR&Dactivities.
EUROS track of symposia has always been organized in terms to ensure the best
possiblequalityEuropeanevent,payingaspecialattentiontostayasingle-trackevent
and to set high demands on the accepted papers. All contributions submitted to this
symposium were reviewed by at least two independentreviewers and selection of 20
bestpapersfororalpresentationand15posterpresentationsfrom95paperssubmitted
canbefoundhereunder.
X Preface
Therefore,the organizingcommittee wouldlike to thankall the authors,reviewers
andmanyothersfortheircontributionsandexcellentworkspentinordertomakethe
EUROS2008possible.
EUROS2008 HermanBruyninckx
LiborPˇreucˇil
MiroslavKulich
European Robotics Symposium 2008
-
EUROS2008
Editors
HermanBruyninckxKatholiekeUniversiteitLeuven,Belgium
MiroslavKulichCzechTechnicalUniversityinPrague,CzechRepublic
LiborPrˇeucˇilCzechTechnicalUniversityinPrague,CzechRepublic
General Chair
HermanBruyninckxKatholiekeUniversiteitLeuven,Belgium
Local Chair
LiborPrˇeucˇilCzechTechnicalUniversityinPrague,CzechRepublic
Program Committee
AntonioBicchiUniversityofPisa,Italy JohnHallamUniversityofSouthernDen-
HendrikvanBrusselKatholiekeUniver- mark,Denmark
siteitLeuven,Belgium GerdHirzingerGermanAerospaceCen-
Martin Buss Technische Universitaet ter,Germany
Muenchen,Germany Oussama Khatib Stanford University,
Al´ıciaCasalsTechnicalUniversityofCat- USA
alonia,Spain Suk HanLee SungkyunkwanUniversity,
Raja Chatila Laboratoire d’Analyse et Korea
d’ArchitecturedesSystemes,France Jadran Lenarcic Jozˇef Stefan Institute,
Henrik I Christensen Georgia Institute Slovenia
ofTechnology,USA
Amiram Moshaiov Tel-Aviv University,
Paolo Dario Scuola Superiore Sant’
Israel
Anna,Italy
Ulrich Nehmzow University of Essex,
Jorge Dias Universidade de Coimbra,
UnitedKingdom
Portugal
AngelPasqualdelPobilJaumeIUniver-
Ru¨digerDillmannUniversita¨tKarlsruhe,
sity,Spain
Germany
XII Organization
Hubert Roth University of Siegen, Ger- BrunoSicilianoTheUniversityofNaples
many ”FedericoII”,Italy
Klaus Schilling University of Wu¨rzburg, Roland Siegwart ETH Zurich, Switzer-
Germany land
OrganizingCommittee
Jan Faigl Czech Technical University in Hana Krautwurmova´ Czech Technical
Prague,CzechRepublic UniversityinPrague,CzechRepublic
Zuzana Hochmeisterova´ Czech Techni- Miroslav Kulich Czech Technical Uni-
calUniversityinPrague,CzechRepublic versityinPrague,CzechRepublic
JanChudobaCzechTechnicalUniversity Petr Sˇteˇpa´n Czech Technical University
inPrague,CzechRepublic inPrague,CzechRepublic
Karel Kosˇnar Czech Technical Univer- Milena Zeithamlova´ Action M Agency,
sityinPrague,CzechRepublic CzechRepublic
Toma´sˇ Krajn´ıkCzechTechnicalUniver-
sityinPrague,CzechRepublic
Co-organizers
EuropeanRoboticsResearchNetwork
CzechTechnicalUniversityinPrague
Gerlsabtonraetorry GerstnerLaboratory
Contents
Adaptive Multiple Resources Consumption Control for an
Autonomous Rover
Simon Le Gloannec, Abdel Illah Mouaddib, Franc¸ois Charpillet ......... 1
Adaptive Snake Robot Locomotion: A Benchmarking Facility
for Experiments
S.A. Fjerdingen, J.R. Mathiassen, H. Schumann-Olsen, E. Kyrkjebø .... 13
Architecture for Neuronal Cell Control of a Mobile Robot
Dimitris Xydas, Daniel J. Norcott, Kevin Warwick,
Benjamin J. Whalley, Slawomir J. Nasuto, Victor M. Becerra,
Mark W. Hammond, Julia Downes, Simon Marshall................... 23
The Ares Robot: Case Study of an Affordable Service Robot
Pedro Santana, Carlos Cˆandido, Paulo Santos, Lu´ıs Almeida,
Lu´ıs Correia, Jos´e Barata.......................................... 33
Balancing the Information Gain Against the Movement Cost
for Multi-robot Frontier Exploration
Arnoud Visser, Bayu A. Slamet..................................... 43
Compiling POMDP Models for a Multimodal Service Robot
from Background Knowledge
Sven R. Schmidt-Rohr, Rainer Ja¨kel, Martin Lo¨sch, Ru¨diger Dillmann .. 53
Constraint Based Object State Modeling
Daniel Go¨hring, Heinrich Mellmann, Hans-Dieter Burkhard ............ 63
A COTS-Based Mini Unmanned Aerial Vehicle (SR-H3)
for Security, Environmental Monitoring and Surveillance
Operations: Design and Test
G. Belloni, M. Feroli, A. Ficola, S. Pagnottelli, P. Valigi .............. 73
