Table Of ContentSpringer Tracts in Advanced Robotics 105
Luis Mejias
Peter Corke
Jonathan Roberts Editors
Field and Service
Robotics
Results of the 9th International
Conference
Springer Tracts in Advanced Robotics 105
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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Luis Mejias Peter Corke
Jonathan Roberts
Editors
Field and Service
Robotics
Results of the 9th International
Conference
ABC
Editors
LuisMejias JonathanRoberts
ScienceandEngineeringFaculty AutonomousSystems
QueenslandUniversityofTechnology CSIROComputationalInformatics
Brisbane,Queensland Pullenvale,Queensland
Australia Australia
e-mail:[email protected]
and
PeterCorke
ScienceandEngineeringFaculty ScienceandEngineeringFaculty
QueenslandUniversityofTechnology QueenslandUniversityofTechnology
Brisbane,Queensland Brisbane,Queensland
Australia Australia
e-mail:[email protected] e-mail:[email protected]
ISSN1610-7438 ISSN1610-742X (electronic)
ISBN978-3-319-07487-0 ISBN 978-3-319-07488-7 (eBook)
DOI10.1007/978-3-319-07488-7
SpringerChamHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2014941083
(cid:2)c SpringerInternationalPublishingSwitzerland2015
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Foreword
Roboticsisundergoingamajortransformationinscopeanddimension.From
alargelydominantindustrialfocus,roboticsisrapidlyexpandingintohuman
environmentsandvigorouslyengagedinits newchallenges.Interactingwith,
assisting, serving, and exploring with humans, the emerging robots will in-
creasingly touch people and their lives.
Beyondits impact onphysical robots, the body of knowledgeroboticshas
produced is revealing a much wider range of applications reaching across di-
verseresearchareasandscientific disciplines, suchas:biomechanics,haptics,
neurosciences, virtual simulation, animation, surgery, and sensor networks
among others. In return, the challenges of the new emerging areas are prov-
ing an abundant source of stimulation and insights for the field of robotics.
It is indeed at the intersection of disciplines that the most striking advances
happen.
The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing
totheresearchcommunitythelatestadvancesintheroboticsfieldonthebasis
of their significance and quality. Through a wide and timely dissemination
of critical researchdevelopments in robotics, our objective with this series is
to promote more exchanges and collaborations among the researchersin the
community and contribute to further advancements in this rapidly growing
field.
TheNintheditionofField and Service RoboticseditedbyLuisMejias,Pe-
terCorkeandJonathanRobertsoffersinitsten-partvolumeacollectionofa
broadrangeoftopicsrangingfromfundamentalconceptssuchascontrol,vi-
sion, mapping and recognitionto advanced applicationssuch as autonomous
underwatervehicles,unmannedaerialvehicles,spacerobots,outdoordriving,
searchandrescuerobots, humanoidsandagriculturerobots.The contents of
the thirty-six contributions represent a cross-section of the current state of
robotics research from one particular aspect: field and service applications,
andhowtheyreflectonthetheoreticalbasisofsubsequentdevelopments.Pur-
suing technologies aimed at non-factory robots, typically mobile, that must
VI Foreword
operate in complex and dynamic environments is the big challenge running
throughout this focused collection.
Rich by topics and authoritative contributors, FSR culminates with this
uniquereferenceonthe currentdevelopmentsandnewdirectionsinfieldand
service robotics. A fine addition to the series!
Naples, Italy Bruno Siciliano
March 2014 STAR Editor
Preface
TheFieldandServiceRobotics(FSR)conferenceisasingletrackconference
with a specific focus on field and service applications of robotics technology.
The goal of FSR is to report and encourage the development of field and
service robotics. These are non-factory robots, typically mobile, that must
operate in complex and dynamic environments. Typical field robotics appli-
cationsincludemining,agriculture,buildingandconstruction,forestry,cargo
handlingandsoon.Fieldrobotsmayoperateontheground(ofEarthorplan-
ets), under the ground, underwater,in the air or in space. Service robots are
those that work closely with humans, importantly the elderly and sick, to
help them with their lives.
The first FSR conference was held in Canberra, Australia, in 1997. Since
then the meeting has been held every 2 years in Asia, America, Europe and
Australia. It has been held in Canberra, Australia (1997), Pittsburgh, USA
(1999), Helsinki, Finland (2001), Mount Fuji, Japan (2003), Port Douglas,
Australia(2005),Chamonix,France(2007),Cambridge,USA(2009),Sendai,
Japan (2012) and most recently in Brisbane, Australia (2013).
This yearwehad54submissionsofwhich36wereselectedfororalpresen-
tation. The organisers would like to thank the international committee for
theirinvaluablecontributioninthereviewprocessensuringtheoverallquality
ofcontributions.TheorganisingcommitteewouldalsoliketothankBenUp-
croft,FelipeGonzalezandAaronMcFadyenforhelpingwiththeorganisation
and proceedings.
TheconferencewassponsoredbytheAustralianRoboticsandAutomation
Association (ARAA), CSIRO, Queensland University of Technology (QUT),
DefenceScienceandTechnologyOrganisationAustralia(DSTO)andtheRio
Tinto Centre for Mine Automation, University of Sydney.
January 14 Luis Mejias (QUT)
Peter Corke (QUT)
Jonathan Roberts (CSIRO)
Organization
International Program Committee
Tim Barfoot U Toronto, Canada
Peter Corke QUT, Australia
Henrik Christensen Georgia Tech, USA
Aarne Halme Helsinki U of Tech, Finland
Karl Iagnemma MIT, USA
Alonzo Kelly CMU, USA
Simon Lacroix LAAS, France
Christian Laugier INRIA, France
John Leonard MIT, USA
David P. Miller U Oklahoma, USA
Keiji Nagatani Tohoku U, Japan
Cedric Pradalier Georgia Tech, France
Jonathan Roberts CSIRO, Australia
Daniela Rus MIT, USA
Miguel Angel Salichs U Carlos III, Spain
Sanjiv Singh CMU, USA
Gaurav Sukhatme USC, USA
Satoshi Tadokoro Tohoku U, Japan
Takashi Tsubouchi U Tsukuba, Japan
David Wettergreen CMU, USA
Kazuya Yoshida Tohoku U, Japan
Arto Visala Helsinki U of Tech, Finland
Alex Zelinsky DSTO, Australia
Uwe Zimmer ANU, Australia
Contents
Part I: Autonomous Underwater Vehicles
Hierarchical Classification in AUV Imagery.................. 3
M.S. Bewley, N. Nourani-Vatani, D. Rao, B. Douillard, O. Pizarro,
S.B. Williams
Mapping 3D Underwater Environments with Smoothed
Submaps .................................................... 17
Mark VanMiddlesworth, Michael Kaess, Franz Hover,
John J. Leonard
Part II: Outdoor Driving
Towards Autonomous Mobile Robots for the Exploration
of Steep Terrain ............................................. 33
Braden Stenning, Lauren Bajin, Christine Robson,
Valentin Peretroukhin, Gordon R. Osinski,
Timothy D. Barfoot
Drivable Road Detection with 3D Point Clouds Based on
the MRF for Intelligent Vehicle.............................. 49
Jaemin Byun, Ki-in Na, Beom-su Seo, Myungchan Roh
Predicting Terrain Traversability from Thermal
Diffusivity ................................................... 61
Chris Cunningham, Uland Wong, Kevin M. Peterson,
William L.“Red”Whittaker
Modular Dynamic Simulation of Wheeled Mobile Robots.... 75
Neal Seegmiller, Alonzo Kelly
