Algorithmic Foundations of Robotics IX

Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics

Editors:

ISBN: 978-3-642-17451-3 (Print) 978-3-642-17452-0 (Online)

Table of contents (24 chapters)

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  1. Front Matter

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  2. Session I

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      Chapter

      Pages 1-18

      Homotopic Path Planning on Manifolds for Cabled Mobile Robots

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      Chapter

      Pages 19-35

      An Equivalence Relation for Local Path Sets

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      Chapter

      Pages 37-52

      Using Lie Group Symmetries for Fast Corrective Motion Planning

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      Chapter

      Pages 53-70

      Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics

  3. Session II

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      Chapter

      Pages 71-87

      Incremental Sampling-Based Algorithms for a Class of Pursuit-Evasion Games

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      Chapter

      Pages 89-104

      Multiagent Pursuit Evasion, or Playing Kabaddi

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      Chapter

      Pages 105-120

      Reconfiguring Chain-Type Modular Robots Based on the Carpenter’s Rule Theorem

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      Chapter

      Pages 121-137

      Robomotion: Scalable, Physically Stable Locomotion for Self-reconfigurable Robots

  4. Session III

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      Chapter

      Pages 139-155

      Adaptive Time Stepping in Real-Time Motion Planning

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      Chapter

      Pages 157-173

      The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping

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      Chapter

      Pages 175-191

      Monte Carlo Value Iteration for Continuous-State POMDPs

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      Chapter

      Pages 193-209

      Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces

  5. Session IV

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      Chapter

      Pages 211-228

      GPU-Based Parallel Collision Detection for Real-Time Motion Planning

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      Chapter

      Pages 229-247

      CCQ: Efficient Local Planning Using Connection Collision Query

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      Chapter

      Pages 249-266

      Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation

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      Chapter

      Pages 267-284

      Energy-Based Modeling of Tangential Compliance in 3-Dimensional Impact

  6. Session V

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      Chapter

      Pages 285-301

      Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners

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      Chapter

      Pages 303-320

      Sufficient Conditions for the Existence of Resolution Complete Planning Algorithms

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      Chapter

      Pages 321-336

      Grasp Invariance

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      Chapter

      Pages 337-353

      Path Planning on Manifolds Using Randomized Higher-Dimensional Continuation

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