This book is the outcome of the NATO Advanced Research Workshop on Machine Intelligence and Knowledge Engineering for Robotic Applications held at Maratea, Italy in May 1986. Attendance of the workshop was by invitation only. Most of the participants and speakers are recognized leaders in the field, representing industry, government and academic c0mrnunity worldwide. The focus of the workshop was to review the recent advances of machine intelligence and knowledge engineering for robotic appli­ cations. It covers five main areas of interest. They are grouped into five sections: 1. Robot Vision 2. Knowledge Representation and Image Understanding 3. Robot Control and Inference Systems 4. Task Planning and Expert Systems 5. Software/Hardware Systems Also included in this book are a paper from the Poster Session and a brief report of the panel discussion on the Future Direction in Knowledge-Based Robotics. Section I of this book consists of four papers. It begins with a review of the basic concepts of computer vision, with emphasis on techniques specific for robot vision systems. The next paper pre­ sents a comprehensive 3-D vision system for robotic application.

Inhalt

I. Robot Vision.- Robot Vision.- 3-D Vision for Robot Applications.- On the Computation of Motion from a Sequence of Monocular or Stereo Images - An Overview.- Time Varying Image Analysis.- II. Knowledge Representation & Image Understanding.- Knowledge Representation for Robot Vision and Path Planning Using Attributed Graphs and Hypergraphs.- Knowledge-Based Systems for Robotic Applications.- Image Understanding for Robotic Applications.- III. Robot Control and Inference Systems.- Machine-Intelligent Robots: A Hierarchical Control Approach.- On the Application of Intelligent Planning Techniques in Industrial Robotics.- Analogical Reasoning by Intelligent Robots.- Knowledge-Based Real-Time Change Detection, Target Image Tracking & Threat Assessment.- IV. Task Planning and Expert Systems.- Task and Path Planning for Mobile Robots.- Task Planning and Control Synthesis for Flexible Assembly Systems.- MARS: An Expert Robot Welding System.- V. Software/Hardware Systems.- The Edinburgh Designer System as a Framework for Robotics.- Implementation of Complex Robot Subsystems on Distributed Computing Resources.- Autonomous Robot of the University of Karlsruhe.- VI. Poster Session.- Robotics Research at the Laboratory for Intelligent Systems, National Research Council of Canada.- VII. Future Directions IN Knowledge-Based Robotics.- VIII. List of Speakers.- IX. List of Participants.