Algorithmic Foundations of Robotics XVI, Volume 2
Description
This book is the second volume of two that present research advances on algorithmic robotics written by leading experts in the field. 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, computer science and machine learning. Advances in this area have a wide range of applications in manufacturing, computational biology, medical robotics, sensor networks, human-robot interaction, virtual environments, and many other areas.
These results were presented at the 16th edition of the International Workshop on the Algorithmic Foundations of Robotics (WAFR) held October 7-9, 2024 at the University of Illinois Discovery Partners Institute in the City of Chicago, Illinois, USA. This edition of WAFR also marked 30 years since its creation in 1994 as a small workshop. Since then, WAFR has established a reputation of being one of the most important venues for presenting cutting-edge research on algorithmic problems in robotics.
Each of the 47 chapters in these two volumes presents an exciting contribution in algorithmic robotics spanning motion and task planning, geometry, multi-robot systems, game theoretic algorithms, control, reinforcement learning, robot design and dynamics, planning with beliefs, minimalism, manipulation, planning with ``interesting'' goals, and perception, localization, and communication.
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CAPO: Control and Actuator Placement Optimization for Large-Scale Problems with Nonlinear Dynamics.- Algorithmic Design of Kinematic Trees Based on CSC Dubins Planning for Link Shapes.- Recursive Forward Dynamics for Serial Kinematic Chains using Conformal Geometric Algebra.- One Fling to Goal: Environment-aware Dynamics for Goal-conditioned Fabric Flinging.- Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration.- Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty.- A POMDP Approach for Safety Assessment of Autonomous Cars.- Patrolling Grids with a Bit of Memory.- Minimally Sufficient Structures for Information-Feedback Policies.- Optimal Sensor Deception to Deviate from an Allowed Itinerary.- A fixed-parameter tractable algorithm for combinatorial filter reduction.- Universal Plans: One Action Sequence to Solve Them All!.- The Teenager's Problem: Efficient Garment Decluttering as Probabilistic Set Cover.- DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation.- BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation.- Propagative Distance Optimization for Constrained Inverse Kinematics.- Coverage Path Planning For Minimizing Expected Time to Search For an Object With Continuous Sensing.- A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles.- Optimally Solving Colored Generalized Sliding-Tile Puzzles: Complexity and Bounds.- Park Rangers' Problem: Motion Planning for Sequential Visibility Requirements.- Visual-Inertial State Estimation with Decoupled Error and State Representations.- Localization with Single or Antipodal Distance Measurements.- Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization.- Sneakernet and station wagons to robots: bounds for robotic network throughput.