Algorithmic Foundation of Robotics VII

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

  • Editors
  • Srinivas Akella
  • Nancy M. Amato
  • Wesley H. Huang
  • Bud Mishra

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 47)

Table of contents

  1. Front Matter
  2. Probabilistic Roadmap Methods (PRMs)

    1. Front Matter
      Pages 1-1
    2. Léonard Jaillet, Thierry Siméon
      Pages 19-34
    3. Dawen Xie, Marco Morales, Roger Pearce, Shawna Thomas, Jyh-Ming Lien, Nancy M. Amato
      Pages 53-68
  3. Planning for Movable and Moving Obstacles

    1. Front Matter
      Pages 69-69
    2. Mostafa Vahedi, A. Frank van der Stappen
      Pages 71-86
    3. Dennis Nieuwenhuisen, A. Frank van der Stappen, Mark H. Overmars
      Pages 87-102
    4. Jur van den Berg, Mark Overmars
      Pages 103-118
    5. Mike Stilman, James J. Kuffner
      Pages 119-135
  4. Navigation, SLAM, and Error Models for Filtering/Control

    1. Front Matter
      Pages 137-137
    2. Kristopher R. Beevers, Wesley H. Huang
      Pages 139-154
    3. Yunfeng Wang, Gregory S. Chirikjian
      Pages 155-168
    4. Ethan Stump, Ben Grocholsky, Vijay Kumar
      Pages 169-184
  5. Geometric Computations and Applications

    1. Front Matter
      Pages 185-185
    2. Ovidiu Daescu, Joseph S. B. Mitchell, Simeon Ntafos, James D. Palmer, Chee K. Yap
      Pages 187-202
    3. Subramanian Ramamoorthy, Ram Rajagopal, Qing Ruan, Lothar Wenzel
      Pages 203-218
    4. Esther M. Arkin, Michael A. Bender, Joseph S. B. Mitchell, Valentin Polishchuk
      Pages 219-234
  6. Motion Planning

    1. Front Matter
      Pages 251-251
    2. Liangjun Zhang, Young J. Kim, Dinesh Manocha
      Pages 269-284
    3. Samuel Rodriguez, Shawna Thomas, Roger Pearce, Nancy M. Amato
      Pages 285-300
    4. Kris Hauser, Timothy Bretl, Jean-Claude Latombe, Brian Wilcox
      Pages 301-316
  7. Applications in Medicine and Biology

    1. Front Matter
      Pages 317-317
  8. Control and Planning for Mechanical Systems

    1. Front Matter
      Pages 341-341
    2. Devin J. Balkcom, Paritosh A. Kavathekar, Matthew T. Mason
      Pages 343-358
    3. Elie A. Shammas, Howie Choset, Alfred A. Rizzi
      Pages 375-390
  9. Sensor Networks and Reconfiguration

    1. Front Matter
      Pages 407-407
    2. R. Ghrist, D. Lipsky, S. Poduri, G. Sukhatme
      Pages 409-424
    3. Carrick Detweiler, John Leonard, Daniela Rus, Seth Teller
      Pages 425-440
    4. Jason C. Derenick, Christopher R. Mansley, John R. Spletzer
      Pages 441-456
  10. Planning for Games, VR, and Humanoid Motion

    1. Front Matter
      Pages 473-473
    2. Benjamín Tovar, Steven M. LaValle
      Pages 475-489
    3. Ron Wein, Jur van den Berg, Dan Halperin
      Pages 491-506
    4. Kris Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe
      Pages 507-522
  11. Back Matter

About this book


Algorithms are a fundamental component of robotic systems: they control or reason about motion and perception in the physical world. They receive input from noisy sensors, consider geometric and physical constraints, and operate on the world through imprecise actuators. The design and analysis of robot algorithms therefore raises a unique combination of questions in control theory, computational and differential geometry, and computer science.

This book contains the proceedings from the 2006 Workshop on the Algorithmic Foundations of Robotics. This biannual workshop is a highly selective meeting of leading researchers in the field of algorithmic issues related to robotics. The 32 papers in this book span a wide variety of topics: from fundamental motion planning algorithms to applications in medicine and biology, but they have in common a foundation in the algorithmic problems of robotic systems.


Analysis Quantitative Analysis actuator algorithms control distance mobile robot motion planning navigation robot robotics sensor uncertainty verification virtual reality

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-540-68404-6
  • Online ISBN 978-3-540-68405-3
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site