Algorithmic and computational robotics: new directions 2000 WAFR

Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications. An interdisciplinary group of scientists gathers every two years to document the progress in algorithmic foundations of robotics. This volume addresses in particular the areas of control theory, computational and differential geometry in robotics, and applications to core problems such as motion planning, navigation, sensor-based planning, and manipulation.

Cover; Half Title; Title Page; Copyright Page; Contents; Foreword; Participants; Meso-Scale Self-Assembly; Robust Geometric Computing in Motion; Controlled Module Density Helps Reconfiguration Planning; Positioning Symmetric and Non-Symmetric Parts Using Radial and Constant Force Fields; Complete Distributed Coverage of Rectilinear Environments; Closed-Loop Distributed Manipulation Using Discrete Actuator Arrays; Kinematic Tolerance Analysis with Configuration Spaces; Deformable Free Space Tilings for Kinetic Collision Detection; Real-time Global Deformations

Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger GaitingManipulation of Pose Distributions; Image Guided Surgery; Pulling Motion Based Tactile Sensing; Compensatory Grasping with the Parallel Jaw Gripper; Optimal Planning for Coordinated Vehicles; An Efficient Approximation Algorithm for Weighted Region Shortest Path Problem; Synthesis and Regulation of Cyclic Behaviors; A Framework for Steering Dynamic Robotic Locomotion Systems; A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems

Randomized Kinodynamic Motion Planning with Moving ObstaclesO…