Field and Service Robotics

FSR, the International Conference on Field and Service Robotics, is a robotics Symposium which has established over the past ten years the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The first meeting was held in Canberra, Australia, in 1997. Since then the meeting has been held every two years in the pattern Asia, America, Europe. This books presents the results of the sixth edition of "Field and Service Robotics" FSR03, held in Chamonix, France, on 9th - 12th July 2003. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. Field robots are non-factory robots, typically mobile, that operate in complex, and dynamic environments: on the ground (of Earth or planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, Climbing Robotics, Sensor Fusion.

Post-conference proceedings of the 6th International Conference on Field and Service Robotics held in Chamonix, France at July 2007

Klappentext

FSR, the International Conference on Field and Service Robotics, is a robotics Symposium which has established over the past ten years the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The first meeting was held in Canberra, Australia, in 1997. Since then the meeting has been held every two years in the pattern Asia, America, Europe. Field robots are non-factory robots, typically mobile, that operate in complex, and dynamic environments: on the ground (of Earth or planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. This book presents the results of the sixth edition of Field and Service Robotics, FSR07, held in Chamonix, France, on 9th - 12th July 2007. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, Climbing Robotics, Sensor Fusion.

Inhalt
Mapping.- Outdoor Radar Mapping Using Measurement Likelihood Estimation.- Recovering the Shape of Objects in 3D Point Clouds with Partial Occlusions.- Update Policy of Dense Maps: Efficient Algorithms and Sparse Representation.- Assessing Map Quality Using Conditional Random Fields.- Vision for Navigation.- Robust Vision-Based Underwater Target Identification and Homing Using Self-Similar Landmarks.- Vision-Based Handling Tasks for an Autonomous Outdoor Forklift.- Robust Feature Extraction and Matching for Omnidirectional Images.- Dynamic Obstacle Detection Based on Probabilistic Moving Feature Recognition.- Mobile Robot Geometry Initialization from Single Camera.- Underwater Robots and Systems.- A Feature Based Navigation System for an Autonomous Underwater Robot.- Experiments in Navigation and Mapping with a Hovering AUV.- Mobile Robot Sensing for Environmental Applications.- Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles.- A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning.- Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy.- Wheeled Robots.- Autonomous Robotic Inspection for Lunar Surface Operations.- Roving Faster Farther Cheaper.- Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects.- Localization and Sensor Fusion.- Robot Position Estimation on a RFID-Tagged Smart Floor.- Monte Carlo Localization in Outdoor Terrains Using Multi-Level Surface Maps.- Estimating Vehicle Position Using Few Range Measurements to a Known Curved Surface.- Sensor Registration for Robotic Applications.- Aerial Navigation and Visual Tracking.- Reactive Collision Avoidance for Unmanned Aerial Vehicles Using Doppler Radar.- Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle.- Pedestrian Shape Extraction by Means of Active Contours.- Teleoperation.- The Small Outdoor Rover MERLIN and Its Assistance System for Tele-operations.- Visually-Guided Robot Navigation: From Artificial to Natural Landmarks.- An Advanced Teleoperation Testbed.- Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links.- SLAM.- SIFT Based Graphical SLAM on a Packbot.- Look-Ahead Proposals for Robust Grid-Based SLAM.- Tradeoffs in SLAM with Sparse Information Filters.- Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation.- A FastSLAM Algorithm Based on the Unscented Filtering with Adaptive Selective Resampling.- Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters.- Learning and Scene Estimation.- Modelling Smooth Paths Using Gaussian Processes.- Data-Driven Identification of Group Dynamics for Motion Prediction and Control.- Unsupervised Detection of Artificial Objects in Outdoor Environments.- Online Learning of Multiple Perceptual Models for Navigation in Unknown Terrain.- Multirobot Systems.- Implementation of Formation Transition System Using Synchronization in a Mobile Robot Group.- Coordinated Search in Cluttered Environments Using Range from Multiple Robots.- A Plan Manager for Multi-robot Systems.- Development of a Networked Robotic System for Disaster Mitigation.- Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors.- Field Robotics - Systems and Applications.- Experiments in Autonomous Reversing of a Tractor-Trailer System.- ATRS - A Technology-Based Solution to Automobility for Wheelchair Users.- Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance.- Kinematics andSensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich.- Automated Steam Turbine Straddle Root Disc Head Inspection.- Design and Field Testing of an Autonomous Underground Tramming System.- Autonomous Fruit Picking Machine: A Robotic Apple Harvester.- Standing Assistance System for Rehabilitation Walker.- Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles.- Picking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator.- Path Planning.- An Architecture for Automated Driving in Urban Environments.- State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments.