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  • Conference proceedings
  • © 2021

Algorithmic Foundations of Robotics XIV

Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics

  • Highlights the latest research on robotic algorithms

  • Gathers the first part of the edited outcomes of the 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR), taking place at Oulu, Finland, on June 21–23, 2021

  • Written by leading experts in the field

Conference proceedings info: WAFR 2020.

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Table of contents (33 papers)

  1. Front Matter

    Pages i-xiii
  2. ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions

    • Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg
    Pages 1-17
  3. Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations

    • Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
    Pages 18-36
  4. Space-Aware Reconfiguration

    • Dan Halperin, Marc van Kreveld, Golan Miglioli-Levy, Micha Sharir
    Pages 37-53
  5. Neural Collision Clearance Estimator for Batched Motion Planning

    • J. Chase Kew, Brian Ichter, Maryam Bandari, Tsang-Wei Edward Lee, Aleksandra Faust
    Pages 73-89
  6. Cover Combinatorial Filters and Their Minimization Problem

    • Yulin Zhang, Dylan A. Shell
    Pages 90-106
  7. Approximation Algorithms for Multi-Robot Patrol-Scheduling with Min-Max Latency

    • Peyman Afshani, Mark de Berg, Kevin Buchin, Jie Gao, Maarten Löffler, Amir Nayyeri et al.
    Pages 107-123
  8. Locally-Connected Interrelated Network: A Forward Propagation Primitive

    • Nicholas Collins, Hanna Kurniawati
    Pages 124-142
  9. Optimized Synthesis of Snapping Fixtures

    • Tom Tsabar, Efi Fogel, Dan Halperin
    Pages 143-158
  10. Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive Control

    • Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki
    Pages 159-175
  11. Every Action-Based Sensor

    • Grace McFassel, Dylan A. Shell
    Pages 176-193
  12. Linear-Time Variational Integrators in Maximal Coordinates

    • Jan Brüdigam, Zachary Manchester
    Pages 194-209
  13. Information Requirements of Collision-Based Micromanipulation

    • Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey, Steven M. LaValle
    Pages 210-226
  14. Characterizing Marginalization and Incremental Operations on the Bayes Tree

    • Dehann Fourie, Antonio Terán Espinoza, Michael Kaess, John Leonard
    Pages 227-242
  15. Hierarchical Multiobjective Shortest Path Problems

    • Konstantin Slutsky, Dmitry Yershov, Tichakorn Wongpiromsarn, Emilio Frazzoli
    Pages 261-276
  16. Planning to Chronicle

    • Hazhar Rahmani, Dylan A. Shell, Jason M. O’Kane
    Pages 277-293
  17. Deadlock Analysis and Resolution for Multi-robot Systems

    • Jaskaran Singh Grover, Changliu Liu, Katia Sycara
    Pages 294-312
  18. Imitation Learning as f-Divergence Minimization

    • Liyiming Ke, Sanjiban Choudhury, Matt Barnes, Wen Sun, Gilwoo Lee, Siddhartha Srinivasa
    Pages 313-329

Other Volumes

  1. Algorithmic Foundations of Robotics XIV

About this book

This proceedings book helps bring insights from this array of technical sub-topics together, as advanced robot algorithms draw on the combined expertise of many fields—including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. Intelligent robots and autonomous systems depend on algorithms that efficiently realize functionalities ranging from perception to decision making, from motion planning to control. The works collected in this SPAR book represent the state of the art in algorithmic robotics. They originate from papers accepted to the 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR), traditionally a biannual, single-track meeting of leading researchers in the field of robotics. WAFR has always served as a premiere venue for the publication of some of robotics’ most important, fundamental, and lasting algorithmic contributions, ensuring the rapid circulation of new ideas. Though an in-person meeting was planned for June 15–17, 2020, in Oulu, Finland, the event ended up being canceled owing to the infeasibility of international travel during the global COVID-19 crisis. 


Keywords

  • Robotics
  • Algorithmic Foundations of Robotics
  • Design and Analysis of Robotic Algorithms
  • Robot Algorithms
  • WAFR Proceedings
  • WAFR

Editors and Affiliations

  • Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

    Steven M. LaValle, Timo Ojala

  • Brendan Iribe Center for Computer Science and Engineering, University of Maryland, College Park, USA

    Ming Lin

  • Department of Computer Science and Engineering, Texas A&M University, College Station, USA

    Dylan Shell

  • Department of Computer Science, Rutgers University, Piscataway, USA

    Jingjin Yu

Bibliographic Information

  • Book Title: Algorithmic Foundations of Robotics XIV

  • Book Subtitle: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics

  • Editors: Steven M. LaValle, Ming Lin, Timo Ojala, Dylan Shell, Jingjin Yu

  • Series Title: Springer Proceedings in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-030-66723-8

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

  • Hardcover ISBN: 978-3-030-66722-1Published: 09 February 2021

  • Softcover ISBN: 978-3-030-66811-2Published: 10 February 2022

  • eBook ISBN: 978-3-030-66723-8Published: 08 February 2021

  • Series ISSN: 2511-1256

  • Series E-ISSN: 2511-1264

  • Edition Number: 1

  • Number of Pages: XIII, 568

  • Number of Illustrations: 36 b/w illustrations, 171 illustrations in colour

  • Topics: Control, Robotics, Mechatronics, Computational Intelligence, Robotics

Buy it now

Buying options

eBook USD 229.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 299.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 299.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access