Mobile Robotics: Solutions and Challenges, Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies For Mobile Machines, Istanbul, Turkey, 9-11 September 2009

1199 Pages·2009·161.08 MB·English

by  O. Tosun

Mobile Robotics:
Solutions and Challenges
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Mobile Robotics:
Solutions and Challenges
Proceedings of the Twelfth International Conference on Climbing and
Walking Robots and the Support Technologies for Mobile Machines
Istanbul, Turkey, 9 - 11 September 2009
edited by
o
Tosun • H LAkin
Bogazi<;:i University, Turkey
o
M Tokhi
The University of Sheffield, UK
G 5 Virk
Massey University, New Zealand
1:0
World Scientific
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British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library.
MOBILE ROBOTICS
Solutions and Challenges
Proceedings of the Twelfth International Conference on Climbing and
Walking Robots and the Support Technologies for Mobile Machines
Copyright © 2010 by World Scientific Publishing Co. Pte. Ltd.
All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means,
electronic or mechanical, including photocopying, recording or any information storage and retrieval
system now known or to be invented, without written permission from the Publisher.
For photocopying of material in this volume, please pay a copying fee through the Copyright
Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to
photocopy is not required from the publisher.
ISBN-13978-981-4291-26-2
ISBN-IO 981-4291-26-9
Printed in Singapore by B & 10 Enterprise
PREFACE
Robotics has been an exciting field in engineering and natural sciences for many
decades; it has held considerable fascination for researchers and scholars and
many important contributions have been made by industrial robots in various
manufacturing tasks such as assembly, welding, painting, and material handling.
In recent times, we have been witnessing the emergence of new service robots
which are intended to perform a variety of tasks in new environments such as
search and rescue, surveillance, exploration and security missions as well as
provide assistance to various users. The emergence of mobile machines for
these new service missions in unstructured environments has significantly
broadened research and development challenges (both technical and non
technical) that need to be considered for successfully widening their adoption.
CLA W AR 2009 is the twelfth in a series of international conferences on
Climbing and Walking Robots and the Support Technologies for Mobile
Machines. The aim of the conference is to provide an open forum where
researchers, scientists, engineers and practitioners from throughout the world
can come together to present and discuss the latest achievements, future
challenges and exciting applications for mobile service machines in general, and
climbing and walking robots in particular. The proceedings of CLA WAR 2009
include state of the art research and development findings presented during the
CLAW AR 2009 conference in 141 technical presentations by authors from 29
countries covering the five continents.
The editors would like to thank members of the International Programme
Committee, International Advisory Committee and National Organising
Committee for their efforts in reviewing the submitted papers, and the authors in
addressing the comments and suggestions of the reviewers in their final
submissions. It is intended that the CLAW AR 2009 proceedings will be a
valuable source of reference for research and development in mobile robotics.
O. Tosun
H. L. Akin
M. O. Tokhi
G. S. Virk
v
CONFERENCE ORGANISERS
Department of Computer Engineering
Bogazi9i University
Istanbul, Turkey
CLAWA R Association
A non-profit making membership based professional
organization serving the robotics community
www.clawar.org
vi
CONFERENCE COMMITTEES
General Chairs and Programme Chairs
of the 12th International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines
o. Tosun (General Co-Chair) - Bogazi<;:i University, Turkey
H. L. Akin (General Co-Chair) - Bogazi<;:i University, Turkey
M. O. Tokhi (Programme Chair) - University of Sheffield, UK
G. S. Virk (lAC Chair) - Massey University, New Zealand
International Advisory Committee (lAC)
of the 12th International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines
Manuel Annada - Spain
Yvan Baudoin -Belgium
Karsten Berns -Germany
Philippe Bidaud - France
Bryan Bridge -UK
Aniba! T de Almeida - Portugal
Krzysztof Kozlowski - Poland
Giovanni Muscato -Italy
Lakmal Seneviratne - UK
MingXie - Singapore
vii
viii
International Programme Committee (IPC)
of the 12th International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines
Ahmadabadi M. N. - Iran Kosuge K. - Japan
Aldbrez F. M. - UK Latif Shabgahi R. - Iran
Althoefer K. -UK Lee S. - Korea
Arkin R. - USA Lefeber D. -Belgium
AzadA.K.M. -USA Lopez-Coronado J. - Spain
Billingsley J. - Australia Marques L. - Portugal
Bonsignorio F. -Italy Moltino R. -Italy
Bouazza-Marouf K. -UK Moon S. -Korea
Cameron S. - UK Pratihar D. K. - India
Carderia C. - Portugal Preucil L. - Czech Republic
Chevallerau C. - France Qian J. - China
ChewC-M. - Singapore Quinn R. - USA
Cruse H. - Germany RachkovM. - Russia
de Santos P. G. - Spain Ribeiro M. - Portugal
DillmannR. - Germany Salichs M. A. - Spain
Dodd T. J. -UK Santos V. - Portugal
Dubowsky S. -USA Sattar T. P. - UK
DutraM. S. - Brazil Schilling K. - Germany
Dutta A. - India Shaheed M. H. -UK
Fontaine J-G. - Italy Shamsudin H. M. A. - Malaysia
FuY. - China Siddique N. H. - UK
Fujimoto H. - Japan Silva F. - Portugal
Fukuda T. - Japan Steinicke L. - Belgium
Garcia E. - Spain Tenreiro Machado J. - Portugal
Ge S. S. - Singapore Vajta L. -Hungary
Gonzalez de Santos P. - Spain Vitko A. - Slovakia
Gradetsky V. - Russia Waldron K. J. -USA
Halme A. - Finland WalkerR. -UK
Heyes N. -UK WoemH. - Germany
Hossain M. A. -UK Yigit A. - Kuwait
Howard D. - UK Ylonen S. - Finland
Huang L. - NZ Zahedi S. -UK
Jarvis R. - Australia ZeccaM. - Japan
Jatsun S. F. - Russia ZhengH. - China
KadarE. E. -UK ZhongZ. W. - Singapore
KaynakO. - Turkey Zhou C. J. - Singapore
Kiriazov P. - Bulgaria ZomayaA. - Australia
ix
National Organising Committee
of the 12th International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines
Oguz Tosun - Bogazic;:i University
Ban~ Gokc;:e - Bogazic;:i University
Can Kavakhoglu - Bogazic;:i University
<;::etin Meric;:Ji - Bogazic;:i University
Tekin Meric;:Ji - Bogazic;:i University
Organising Secretariat
of the 12th International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines
DEKON Congress & Tourism, Istanbul, Turkey