ABSTRACT
This volume deals with core problems in robotics, like motion planning, sensor-based planning, manipulation, and assembly planning. It also discusses the application of robotics algorithms in other domains, such as molecular modeling, computer graphics, and image analysis. Topics Include: - Planning - Sensor Based Motion Planning - Control and Moti
TABLE OF CONTENTS
chapter |14 pages
Multi-robot Cooperation based on a Distributed and Incremental Plan Merging Paradigm
Rachid Alami, LAAS/CNRS, 31077 Toulouse - France
chapter |16 pages
Robot Motion Planning: A Game-Theoretic Foundation
Steven M. LaValle, Stanford University, Stanford, CA USA
chapter |2 pages
Constrained Motion Planning: Applications in Mobile Robotics and in Maintenance Operations
Pierre Ferbach, EDF - Direction des Etudes et Recherches, Chatou, France Jean-Frangois Rit, EDF - Direction des Etudes et Recherches, Chatou, France
chapter |16 pages
Sensor Based Motion Planning: The Hierarchical Generalized Voronoi Graph
Howie Choset, Carnegie Mellon University, Pittsburgh, PA, USA Joel Burdick, California Institute of Technology, Pasadena, CA, USA
chapter |16 pages
Integ rating Configuration Space and Sensor Space for Vision-based Robot M otion Planning
Rajeev Sharma, The Pennsylvania State University, University Park, PA, USA Herry Sutanto, University of Illinois, Urbana, IL, USA
chapter |18 pages
Multi -Level Path Planning for Nonholonomic Robots using Semi-Holonomic Subsystems
Sepanta Sekhavat, LAAS/CNRS, Toulouse, France, Petr Svestka, Department of Computer Science, Utrecht University, the Netherlands, Jean-Paul Laumond, LAAS/CNRS, Toulouse, France, Mark Overmars, Department of Computer Science, Utrecht University, the Netherlands
chapter |14 pages
Non-Uniform Discretization Approximations for Kinodynamic Motion Planning and its Applications
John Reif, Duke University, Durham, NC, USA Hongyan Wang, Duke University, Durham, NC, USA
chapter |16 pages
Continuous M otion Plans for Robotic System s with Changing Dynam ic Behavior
Milos Zefran, University of Pennsylvania, Philadelphia, PA, USA Jaydev P. Desai, University of Pennsylvania, Philadelphia, PA, USA Vijay Kumar, University of Pennsylvania, Philadelphia, PA, USA
chapter |14 pages
Colli sion Detection: Algorithms and Applications
Ming C. Lin, U.S. Army Research Office and University of North Carolina, Chapel Hill, NC, USA Dinesh Manocha, University of North Carolina, Chapel Hill, NC, USA Jon Cohen, University of North Carolina, Chapel Hill, NC, USA Stefan Gottschalk, University of North Carolina, Chapel Hill, NC, USA
chapter |10 pages
Largest Placem ents and M otion Planning of a Convex Polygon
Pankaj K. Agarwai, Duke University, Durham, NC, USA Nina Amenta, Xerox Palo Alto Research Center, Palo Alto, CA, USA Boris Aronov, Polytechnic University, Brookly, NY, USA Micha Sharir, Tel Aviv University, Tel Aviv, Israel and New York University, NY, USA
chapter |4 pages
Dynam ic M aintenance of Kinematic Structures
Tel A viv U niversity, Tel A viv, Israel Stanford University, Stanford, CA, USA Stanford U niversity, Stanford, C A, USA
chapter |7 pages
Polyhedral Tracings and their Convolution
Stanford U niversity, Stanford, CA, USA Stanford University, Stanford, CA, USA Stanford University, Stanford, CA, USA 1 Introduction
chapter |3 pages
Fast Construction of Near Optimal Probing Strategies
Eric Paulos, University of California, Berkeley, CA, USA John Canny, University of California, Berkeley, CA, USA
chapter |16 pages
Robust Geometric Algorithms for Sensor Planning
Amy J. Briggs, Middlebury College, Middlebury, VT, USA Bruce R. Donald, Cornell University, Ithaca, N Y) USA
chapter |16 pages
Visible Positions for a Car-like Robot amidst Obstacles
Marilena Vendittelli, Universita di Roma “La Sapienza”, Rome, Italy Jean-Paul Laumond, LAAS-CNRS, Toulouse, France
chapter |16 pages
Dynamic Simulation: Model, Basic Algorithms, and Optimization
Ammar Joukhadar, INRIA Rhone Alpes & GRAVIR, 38330 Montbonnot Saint-Martin, FRANCE Christian Laugier, INRIA Rhone Alpes & GRAVIR, 38330 Montbonnot Saint-Martin, FRANCE
chapter |13 pages
Facia l Analysis and Synthesis Using Image-Based Models
Tony Ezzat, MIT Artificial Intelligence Laboratory, Cambridge, MA, USA Tomaso Poggio, MIT Artificial Intelligence Laboratory9 Cambridge} MA, USA
