Multi-vehicle Dynamic Pursuit Using Underwater Acoustics

688 Pages·2016·30.81 MB·English

Springer Tracts in Advanced Robotics 114
Masayuki Inaba
Peter Corke Editors
Robotics
Research
The 16th International Symposium ISRR
Springer Tracts in Advanced Robotics 114
Editors
Prof. Bruno Siciliano Prof. Oussama Khatib
Dipartimento di Ingegneria Elettrica Artificial Intelligence Laboratory
e Tecnologie dell’Informazione Department of Computer Science
Università degli Studi di Napoli Stanford University
Federico II Stanford, CA 94305-9010
Via Claudio 21, 80125 Napoli USA
Italy E-mail: [email protected]
E-mail: [email protected]
[email protected]
Editorial Advisory Board
Nancy Amato, Texas A & M, USA
Oliver Brock, TU Berlin, Germany
Herman Bruyninckx, KU Leuven, Belgium
Wolfram Burgard, Univ. Freiburg, Germany
Raja Chatila, ISIR - UPMC & CNRS, France
Francois Chaumette, INRIA Rennes - Bretagne Atlantique, France
Wan Kyun Chung, POSTECH, Korea
Peter Corke, Queensland Univ. Technology, Australia
Paolo Dario, Scuola S. Anna Pisa, Italy
Alessandro De Luca, Sapienza Univ. Rome, Italy
Rüdiger Dillmann, Univ. Karlsruhe, Germany
Ken Goldberg, UC Berkeley, USA
John Hollerbach, Univ. Utah, USA
Lydia Kavraki, Rice Univ., USA
Vijay Kumar, Univ. Pennsylvania, USA
Bradley Nelson, ETH Zürich, Switzerland
Frank Park, Seoul National Univ., Korea
Tim Salcudean, Univ. British Columbia, Canada
Roland Siegwart, ETH Zurich, Switzerland
Gaurav Sukhatme, Univ. Southern California, USA
More information about this series at http://www.springer.com/series/5208
[email protected]
Masayuki Inaba Peter Corke
(cid:129)
Editors
Robotics Research
The 16th International Symposium ISRR
123
[email protected]
Editors
Masayuki Inaba PeterCorke
Department ofCreative Informatics Schoolof Electrical Engineering
TheUniversity of Tokyo andComputer Science
Tokyo Queensland University of Technology
Japan Brisbane, QLD
Australia
ISSN 1610-7438 ISSN 1610-742X (electronic)
SpringerTracts inAdvanced Robotics
ISBN978-3-319-28870-3 ISBN978-3-319-28872-7 (eBook)
DOI 10.1007/978-3-319-28872-7
LibraryofCongressControlNumber:2016930274
©SpringerInternationalPublishingSwitzerland2016
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Series Foreword
Robotics is undergoing a major transformation in scope and dimension. From a
largely dominant industrial focus, robotics is rapidly expanding into human envi-
ronments and is vigorously engaged in its new challenges. Interacting with,
assisting, serving, and exploring with humans, the emerging robots will increas-
ingly touch people and their lives.
Beyond its impact on physical robots, the body of knowledge robotics has
produced 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
disciplines that the most striking advances happen.
TheSpringerTractsinAdvancedRobotics(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
researchdevelopmentsinrobotics,ourobjectivewiththisseriesistopromotemore
exchanges and collaborations among the researchers in the community and con-
tribute to further advancements in this rapidly growing field.
As one of robotics pioneering symposia, the International Symposium on
Robotics Research (ISRR) has established over the past two decades some of the
field’s most fundamental and lasting contributions. Since the launching of STAR,
ISRR and several other thematic symposia in robotics find an important platform
for closer links and extended reach within the robotics community.
This 16th edition of “Robotics Research,” edited by Masayuki Inaba and Peter
Corke, brings a collection of a broad range of topics in robotics including control,
design, intelligence and learning, manipulation, perception, and planning. The
content of these contributions provides a wide coverage of the current state of
robotics research: the advances and challenges in its theoretical foundation and
technology basis, and the developments in its traditional and novel areas of
applications.
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vi SeriesForeword
The novelty and span of the work presented in this volume reveal the field’s
increasedmaturityandexpandedscope.This16theditionofISRRculminateswith
thisimportantreferenceonthecurrentdevelopmentsandnewdirectionsinthefield
of robotics—a true tribute to its contributors and organizers!
Stanford, California Oussama Khatib
November 2015 STAR Editor
[email protected]
Preface
This volume containsthe papers presented atthe 16th InternationalSymposium of
Robotics Research (ISRR). This is a biennial meeting sponsored and organized by
theInternationalFoundationofRoboticsResearch(IFRR).Itisthelongestrunning
series of robotics research meetings and dates back to the very earliest days of
robotics as a research discipline—the first meeting was organized by Mike Brady
and Richard Paul and took place in Bretton Woods (New Hampshire, USA) in
August1983.Thismostrecentmeetingwasheldinthe30thanniversaryyearofthe
very first meeting, and represents 30 years at the forefront of ideas in robotics
research.
This particular meeting, the 16th in the series, took place in Singapore during
16–19 December 2013. There were similarities and differences compared to the
very first ISRR. Importantly, we adopt a single track format, limit the number of
participants,anddesigntheprogramtomaximizemeaningfultechnicalinteractions.
Thefirstmeetingwasbyinvitationonlybutmorerecentmeetingshavehadanopen
call for papers as well as invited speakers.
The invited papers were nominated by individual IFRR officers, who then col-
lectively voted on those nominations. This meeting continued the reform of the
speakerinvitationprocess.Thisyearonly16ofthe45speakerswereinvitedandfor
the first time selection was based on the votes of all IFRR officers rather than
selection by geographic region as was the previous convention.
The open submission process resulted in 58 papers from 11 countries. Of these
29wereselectedbythereviewersforpresentationatthemeeting,a50%acceptance
rate. These papers were presented in interactive format which enables real con-
versations between speakers and the audience.
Inadditiontheprogramhad,forthefirsttime,anumberofforumsontopicssuch
as emerging areas in robotics, learning and control human–robot interaction.
Theprogramincludedatributetoremembertwoverylongservingofficersofthe
Foundation,Dr.GeorgesGiraltandProf.RayJarvis,whopassedawayduring2013.
In this volume we have collected the papers presented in regular sessions,
interactive sessions, and topical forums and organized them into traditional ISRR
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viii Preface
categories:control;design;intelligenceandlearning;manipulation;perception;and
planning.
Finally, the meeting would not have been possible without the brilliant orga-
nizingteamledbyMarceloAng,andthesupportofthesponsors.Weacknowledge
and thank them all.
Masayuki Inaba
Peter Corke
[email protected]
Organizing Committee
Sponsors
A*STAR Agency for Science, Technology and Research (Singapore)
Toyota
KUKA
The ISRR 2013 Committee
Co-chairs
Masayuki Inaba
Peter Corke
Local Arrangements
Marcelo Ang
Webmasters: Andras Kupcsik, Andrew English
The International Foundation of Robotics Research
President
Oussama Khatib
Executive Officers
Henrik Christensen
Gerd Hirzinger
Yoshiko Nakamura
Honorary Officers
Ruzena Bajcsy
Robert Bolles
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