
Towards Autonomous Robotic Systems
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The 16 revised full papers presented together with 18 short papers were carefully reviewed and selected from 59 submissions. The overall program covers various aspects of robotics, including navigation, planning, sensing and perception, flying and swarm robots, ethics, humanoid robotics, human-robot interaction, and social robotics.
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Content
- Intro
- Preface
- Organization
- Contents
- Endurance Optimisation of Battery-Powered Rotorcraft
- 1 Introduction
- 2 Rotorcraft Endurance Model
- 3 Benchmark: Rotorcraft Endurance Upper Bound
- 4 Endurance Optimisation with Practical Batteries
- 4.1 Optimisation Technique
- 4.2 ARDrone Optimisation Predictions
- 4.3 Experimental Validation and Verification
- 5 Quadrotor Endurance Improvement with Scale
- 6 Conclusion
- References
- An Overview of Anthropomorphic Robot Hand and Mechanical Design of the Anthropomorphic Red Hand - A Preliminary Work
- 1 Introduction
- 2 Design of the Red Hand
- 2.1 Mechanical Description
- 2.2 Motor Selection
- 2.3 Mechanism Description (Index, Middle, Ring and Small Fingers)
- 2.4 Mechanism Description (Thumb Finger)
- 2.5 The Palm
- 2.6 Fingertip Sensor for Active Compliance Control
- 3 Conclusion
- References
- An Interactive Approach to Monocular SLAM
- 1 Introduction and Related Works
- 2 Methodology
- 2.1 Active Contours, Feature Selection
- 2.2 Image Forces and Gradient Vector Flow
- 2.3 Monocular SLAM
- 3 Results
- References
- Symmetry Reduction Enables Model Checking of More Complex Emergent Behaviours of Swarm Navigation Algorithms
- 1 Introduction
- 2 Swarms in Grids
- 3 Model Checking and the State-Space Explosion Problem
- 4 Relative Encoding of a Swarm in a Grid
- 5 Alpha Algorithm
- 6 Results
- 7 Conclusions
- References
- Inertia Properties of a Prosthetic Knee Mechanism
- 1 Introduction
- 2 Kinematics Analysis of the Proposed Prosthetic Knee Mechanism
- 3 Sources of Inertia and Impedance Torques in the Mechanism
- 4 Conclusions
- References
- Development and Characterisation of a Multi-material 3D Printed Torsion Spring
- 1 Introduction
- 2 Methods
- 2.1 Manufacture
- 2.2 Testing
- 2.3 Characterization
- 3 Results
- 4 Conclusion
- References
- Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios
- 1 Introduction
- 2 Application of the Pseudo Dynamic Test Methodto Robots and Contact Scenarios
- 3 RPsDT Drop Test Investigation and Validation
- 3.1 Experimental Setup and Procedure
- 3.2 Results and Discussion
- 4 Conclusions
- References
- Hybrid Insect-Inspired Multi-Robot Coverage in Complex Environments
- 1 Introduction
- 2 Related Work
- 3 Background: Comparison Between StiCo and BeePCo
- 3.1 StiCo Principle
- 3.2 BeePCo Principle
- 3.3 Comparison Between StiCo and BeePCo
- 4 HybaCo: Hybrid Bee-Ant Coverage Algorithm
- 5 Experimental Evaluation
- 6 Conclusions
- References
- From AgentSpeak to C for Safety Considerations in Unmanned Aerial Vehicles
- 1 Introduction
- 2 The Autopilot
- 3 AgentSpeak
- 4 Translation
- 5 Experimental Setup
- 6 Conclusions and Future Work
- References
- Joint Torques and Velocities in a 3-mass Linear Inverted Pendulum Model of Bipedal Gait
- 1 Introduction
- 2 Forces and Torques in Multi-mass LIPM Models
- 2.1 The 1-mass LIPM Equation
- 2.2 Force and Torques in a Simple Robot Structure
- 2.3 A 2-mass System
- 3 A Three-Mass Robot Model
- 3.1 Forward Motion: Equation and Solution
- 3.2 Lateral Motion: Equation and Solution
- 4 Effects of Gait Parameters on Joint Torques and Velocities
- 5 Conclusion
- References
- Limits and Potential of an Experience Metric Space in a Mobile Domestic Robot
- 1 Introduction
- 2 Motivation
- 3 Interaction History Architecture
- 3.1 Information Distance
- 3.2 Metric Space of Experience
- 3.3 Action Selection
- 3.4 Rewards
- 4 Methods
- 5 Results and Conclusions
- 5.1 The Importance of Entropy
- 5.2 Time-Series Within an Experience
- 6 Discussion and Conclusion
- References
- A Novel Approach to Environment Mapping Using Sonar Sensors and Inverse Problems
- 1 Introduction
- 2 Image Reconstruction
- 2.1 Beamforming
- 2.2 Inverse Problems
- 3 Experimental Setup
- 3.1 Data Collection
- 4 Experimental Results
- 4.1 Image Reconstruction
- 5 Conclusions
- References
- Applying Energy Autonomous Robots for Dike Inspection
- 1 Introduction
- 2 Theoretical Background
- 2.1 Harvested Energy per Day
- 2.2 Average Power Consumption
- 2.3 An Analytic Expression for the Operational Time per Day
- 3 Parameter Identification
- 3.1 Solar Energy Harvesting
- 3.2 Wind Energy Harvesting
- 3.3 Locomotion Energy Consumption
- 3.4 Temporary Energy Storage
- 4 Exploratory Study
- 5 Generalisation of the Results
- 5.1 Discussion of the Results
- 6 Conclusion
- References
- Advancing Evolutionary Coordination for Fixed-Wing Communications UAVs
- 1 Introduction
- 2 Methods
- 2.1 Communication Model and Obstacle Representation
- 2.2 Chromosome Codification and Time Synchronisation
- 2.3 Packing Mechanism for Energy Efficiency
- 3 Experiments and Results
- 4 Conclusion
- References
- A Generic Approach to Self-localization and Mapping of Mobile Robots Without Using a Kinematic Model
- 1 Introduction
- 2 Materials and Methods
- 3 Experiments and Results
- 4 Conclusion
- References
- Improving Active Vision System Categorization Capability Through Histogram of Oriented Gradients
- 1 Introduction
- 2 Experimental Details
- The Neural Network and the Evolutionary Task.
- 2.1 The Proposed Histogram of Oriented Gradients Method
- 3 Results
- 4 Conclusion
- References
- ROBO-GUIDE: Towards Safe, Reliable, Trustworthy, and Natural Behaviours in Robotic Assistants
- 1 Introduction
- 2 Floor Determination
- 2.1 Vision
- 2.2 Automatic Speech Recognition of Lift Announcements
- 2.3 Mapping
- 2.4 Combined Floor Estimation
- 3 Conclusion
- References
- Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments
- 1 Introduction
- 2 Description of the Basic Snake Arm
- 3 Discrete Snake Arm Kinematics and Statics
- 4 Cable Tension Experiment
- 5 Maximum Working Length
- 6 Conclusion and Future Work
- References
- Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks
- 1 Introduction
- 2 Methods
- 2.1 Robot Navigation Algorithm
- Problem Statement.
- Robot Dynamics and Measurement Model.
- Estimation of Robot Location.
- 2.2 Experimental Setup
- 3 Results
- 4 Summary
- References
- Standardized Field Testing of Assistant Robots in a Mars-Like Environment
- 1 Introduction
- 2 The Test Program
- 2.1 Selected DHS-NIST-ASTM Tests
- 2.2 Operational Tests
- 3 Results
- 4 Analysis and Design Implications
- 5 Conclusions
- References
- Towards Intelligent Lower Limb Prostheses with Activity Recognition
- 1 Introduction
- 2 Control Architecture for Lower Limb Prostheses
- 2.1 High Level Control
- 2.2 Middle Level Control
- 3 Preliminary Work
- 3.1 Subjects and Experimental Protocol
- 3.2 Real-Time Gait Event Detection Algorithm Description and Validation
- 3.3 Data Analysis and Results
- 4 Conclusion and Future Works
- References
- Discretizing the State Space of Multiple Moving Robots to Verify Visibility Properties
- 1 Introduction
- 2 Problem Definition
- 3 Constructing the Discrete State Space
- 3.1 System States
- 3.2 Transitions Events
- 4 Analysis
- 5 Conclusion
- References
- Design of a Continuously Varying Electro-Permanent Magnet Adhesion Mechanism for Climbing Robots
- 1 Introduction
- 2 Theory and Principles of Electro-Permanent Magnets
- 3 Design, Simulations and Experiments
- 3.1 Proposed Wheel Design
- 3.2 Simulations for the Off and On Initial States
- 3.3 Simulations of the Continuous Varying State
- 3.4 Experiments
- 4 Conclusions
- References
- An Approach to Supervisory Control of Multi-Robot Teams in Dynamic Domains
- 1 Introduction
- 2 Methodology
- 3 User Study
- 4 Results
- 5 Summary
- References
- Robotic Garment Folding: Precision Improvement and Workspace Enlargement
- 1 Introduction
- 2 Improvement of the Gravity Based Folding
- 3 Closed Chain Garment Folding
- 3.1 Grasping and Folding
- 3.2 Azimuth Relaxation
- 3.3 Elevation Relaxation
- 3.4 Fold Planning by Solving the Inverse Kinematics
- 3.5 Fold Planning in Joint Space
- 4 Experiments
- 4.1 Minimizing Folding Misalignment
- 4.2 Workspace Enlargement
- 5 Conclusions
- References
- Computing Time-Optimal Clearing Strategies for Pursuit-Evasion Problems with Linear Programming
- 1 Introduction
- 2 Pursuit-Evasion Problem
- 3 Strategy with Global Minimal Execution Time
- 3.1 General Constraints
- 3.2 Constraints for Graph-Clear Strategies
- 4 Optimisation Heuristics
- 5 Executing a Predefined Strategy with Minimal Execution Time
- 6 Experiment
- 7 Conclusion
- References
- The Benefits of Explicit Ontological Knowledge-Bases for Robotic Systems
- 1 Introduction
- 2 Ontologies Background
- 3 System and Ontology
- 4 Evaluation
- 5 Conclusions
- References
- Task-Based Variation of Active Compliance of Arm/Hand Robots in Physical Human Robot Interactions
- 1 Introduction
- 2 Robot Control Method Preliminaries
- 3 The Proposed Control Strategy
- 4 Experimental Set-up and Results
- 5 Conclusion
- References
- Auction-Based Task Allocation for Multi-robot Teams in Dynamic Environments
- 1 Introduction
- 2 Methodology
- 2.1 System Architecture
- 2.2 Metrics
- 3 Experiments
- 3.1 Experimental Setup
- 3.2 Mechanisms Tested
- 3.3 Results
- 3.4 Discussion
- 4 Related Work
- 5 Summary
- References
- UAV Guidance: A Stereo-Based Technique for Interception of Stationary or Moving Targets
- 1 Introduction
- 2 Flight Platform
- 3 Target Detection Method
- 4 Stereo Calibration
- 5 Relative Position and Velocity to Object
- 6 Method Validation
- 7 Control of Interception
- 8 Results: Closed-Loop Interception
- 9 Discussion
- 10 Conclusion
- References
- A Novel Path Planning Approach for Robotic Navigation Using Consideration Within Crowds
- 1 Introduction
- 2 Related Work
- 2.1 Modelling Crowd Dynamics and Behaviours
- 2.2 Path Planning Techniques
- 2.3 Applied Systems
- 3 Problem Formulation
- 3.1 The Robot
- 3.2 The Crowd (Pedestrians)
- 4 Moving Considerately
- 5 A Voronoi Diagram for Ellipses
- 6 Algorithm
- 6.1 Pedestrians in the Environment
- 6.2 Planning a Path
- 7 Results
- 7.1 Comparison to `Cooperative' Navigation
- 7.2 Demonstrating Consideration when Cutting Across a Crowd
- 8 Evaluation
- References
- Adaptive Sampling-Based Motion Planning for Mobile Robots with Differential Constraints
- 1 Introduction
- 2 Related Work
- 3 Problem Formulation
- 4 Method
- 4.1 Workspace Decomposition
- 4.2 Guided Motion-Tree Search
- 5 Experiments and Results
- 6 Discussion
- References
- Collaborating Low Cost Micro Aerial Vehicles: A Demonstration
- 1 Introduction and Motivation
- 1.1 Related Work
- 2 System Overview
- 3 Hardware Platforms
- 4 Experimental Evaluation
- 5 Demonstration
- References
- Vision-Based Trajectories Planning for Four Wheels Independently Steered Mobile Robots with Maximum Allowable Velocities
- 1 Introduction
- 2 Vision-Based Trajectories Planning
- 3 Kinematic Model
- 4 Bounded Velocities Planning
- 5 Experiment Results
- 6 Conclusion and Future Work
- References
- Author Index
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