Algorithmic Foundation of Robotics VIII

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

  • Gregory S. Chirikjian
  • Howie Choset
  • Marco Morales
  • Todd Murphey

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 57)

Table of contents

  1. Front Matter
  2. Networks

    1. Front Matter
      Pages 1-1
    2. Eric Meisner, Wei Yang, Volkan Isler
      Pages 3-17
    3. Erik Halvorson, Ronald Parr
      Pages 19-34
  3. Distributed Systems

    1. Front Matter
      Pages 51-51
    2. Ketan Savla, Emilio Frazzoli
      Pages 53-67
    3. Bruce R. Donald, Christopher G. Levey, Igor Paprotny, Daniela Rus
      Pages 69-84
    4. Luciano C. A. Pimenta, Mac Schwager, Quentin Lindsey, Vijay Kumar, Daniela Rus, Renato C. Mesquita et al.
      Pages 85-99
    5. Peng Cheng, Jonathan Fink, Soonkyum Kim, Vijay Kumar
      Pages 101-116
  4. Manipulation

    1. Front Matter
      Pages 117-117
    2. Alberto Rodriguez, Matthew T. Mason
      Pages 119-133
    3. Elliot R. Johnson, Karen Morris, Todd D. Murphey
      Pages 151-166
    4. Jason Nightingale, Richard Hind, Bill Goodwine
      Pages 167-180
  5. Robust Planning

    1. Front Matter
      Pages 181-181
    2. Leonidas J. Guibas, David Hsu, Hanna Kurniawati, Ehsan Rehman
      Pages 199-215
    3. James C. Davidson, Seth A. Hutchinson
      Pages 217-231
  6. Computational Minimalism

    1. Front Matter
      Pages 233-233
    2. Michael Erdmann
      Pages 267-282
  7. Geometric Sensing

    1. Front Matter
      Pages 283-283
    2. Joel A. Hesch, Anastasios I. Mourikis, Stergios I. Roumeliotis
      Pages 285-299
    3. Benjamin Tovar, Fred Cohen, Steven M. LaValle
      Pages 317-332
    4. Jean-Bernard Hayet, Claudia Esteves, Rafael Murrieta-Cid
      Pages 333-347
  8. Geometric Computations

    1. Front Matter
      Pages 349-349
    2. Pankaj K. Agarwal, Alon Efrat, R. Sharathkumar, Hai Yu
      Pages 351-365
    3. Liangjun Zhang, Dinesh Manocha
      Pages 367-384
    4. Anna Yershova, Steven M. LaValle, Julie C. Mitchell
      Pages 385-399
    5. Greg Aloupis, Sébastien Collette, Mirela Damian, Erik D. Demaine, Dania El-Khechen, Robin Flatland et al.
      Pages 433-447
    6. Ioan A. Şucan, Lydia E. Kavraki
      Pages 449-464
  9. Stochastic Methods in Planning

    1. Front Matter
      Pages 465-465
    2. Sébastien Dalibard, Jean-Paul Laumond
      Pages 467-481
    3. Sejoon Lim, Hari Balakrishnan, David Gifford, Samuel Madden, Daniela Rus
      Pages 483-500
    4. Xinyu Tang, Shawna Thomas, Nancy M. Amato
      Pages 517-531
  10. Medical Applications

    1. Front Matter
      Pages 533-533
    2. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Ken Goldberg
      Pages 535-549
    3. Ankur Dhanik, Henry van den Bedem, Ashley Deacon, Jean Claude Latombe
      Pages 551-566
    4. Wooram Park, Yunfeng Wang, Gregory S. Chirikjian
      Pages 583-595
  11. Planning

    1. Front Matter
      Pages 597-597
    2. Jur van den Berg, Mike Stilman, James Kuffner, Ming Lin, Dinesh Manocha
      Pages 599-614
    3. Kris Hauser, Jean-Claude Latombe
      Pages 615-630
    4. Avik De, Jusuk Lee, Nicholas Keller, Noah J. Cowan
      Pages 631-645

About this book


This volume is the outcome of the eighth edition of the biennial Workshop on Algorithmic Foundations of Robotics (WAFR). Edited by G.S. Chirikjian, H. Choset, M. Morales and T. Murphey, the book offers a collection of a wide range of topics in advanced robotics, including networked robots, distributed systems, manipulation, planning under uncertainty, minimalism, geometric sensing, geometric computation, stochastic planning methods, and medical applications.

The contents of the forty-two contributions represent a cross-section of the current state of research from one particular aspect: algorithms, and how they are inspired by classical disciplines, such as discrete and computational geometry, differential geometry, mechanics, optimization, operations research, computer science, probability and statistics, and information theory. Validation of algorithms, design concepts, or techniques is the common thread running through this focused collection. Rich by topics and authoritative contributors, WAFR culminates with this unique reference on the current developments and new directions in the field of algorithmic foundations.


Racter algorithms computational geometry kinematics microelectromechanical system (MEMS) mobile robot modeling motion planning navigation operations research optimization robot robotics sensing

Editors and affiliations

  • Gregory S. Chirikjian
    • 1
  • Howie Choset
    • 2
  • Marco Morales
    • 3
  • Todd Murphey
    • 4
  1. 1.Department of Mechanical EngineeringThe Johns Hopkins UniversityBaltimoreUSA
  2. 2.Carnegie Mellon UniversityPittsburghUSA
  3. 3.Sistemas DigitalesInstituto Tecnológico, Autónomo de MéxicoMéxicoMéxico
  4. 4.Department of Mechanical EngineeringNorthwestern UniversityEvanstonUSA

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-00311-0
  • Online ISBN 978-3-642-00312-7
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site