This book includes selected contributions to the Workshop WAFR 2002 being held at December 15-17, 2002 in Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.

Carefully edited book from one of the most influential conferences in robotics

Klappentext

This book includes selected contributions from the Workshop WAFR 2002 held from December 15-17, 2002 in Nice, France. This fifth biannual Workshop on Algorithmic Foundations of Robotics focuses on algorithmic issues related to robotics and automation. The design and analysis of robot algorithms raises fundamental questions in computer science, computational geometry, mechanical modeling, operations research, control theory, and associated fields. The highly selective program highlights significant new results such as algorithmic models and complexity bounds. The validation of algorithms, design concepts, or techniques is the common thread running through this focused collection.

Inhalt
Algorithms for Motion and Navigation in Virtual Environments and Games.- Motion Planning for Knot Untangling.- Exact Collision Checking of Robot Paths.- A Comparative Study of Probabilistic Roadmap Planners.- On the Relationship between Classical Grid Search and Probabilistic Roadmaps.- Algorithms for Rapidly Dispersing Robot Swarms in Unknown Environments.- Better Group Behaviors Using Rule-Based Roadmaps.- A Delaunay Approach to Interactive Cutting in Triangulated Surfaces.- Stochastic Conformational Roadmaps for Computing Ensemble Properties of Molecular Motion.- View Planning via Maximal C-space Entropy Reduction.- Exact and Distributed Algorithms for Collaborative Camera Control.- Shape Complexes for Metamorhpic Robots.- Flexonics.- Coordinating Multiple Robots with Kinodynamic Constraints along Specified Paths.- Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane.- Decentralized Algorithms for Multirobot Manipulation via Caging.- Communication Complexity of Multi-robot Systems.- Reconstructing the Shape and Motion of Unknown Objects with Active Tactile Sensors.- A General Manipulation Task Planner.- Computation on Parametric Curves with Applications in Localization and Grasping.- A Near-Quadratic Algorithm for Fence Design.- Simultaneous Mapping and Localization with Sparse Extended Information Filters: Theory and Initial Results.- Expected Shortest Paths for Landmark-Based Robot Navigation.- Sensor-Based Coverage: Incremental Construction of Cellular Decompositions.- Online Scan Coverage of Grid Environments by a Mobile Robot.- Distributed Motion Planning for 3D Modular Robots with Unit-Compressible Modules.- Distributed Manipulation with Rolling Contact.- Computing Equilibria on Superpositions of Logarithmic-Radial Potential Fields.- Feedback Control for Distributed Manipulation.- Fast Penetration Depth Estimation Using Rasterization Hardware and Hierarchical Refinement.- Generalizing Demonstrated Manipulation Tasks.- Constraint-Based Motion Planning Using Voronoi Diagrams.- Trajectory Planning for Kinematically Controllable Underactuated Mechanical Systems.