Ebook: Field and Service Robotics: Results of the 5th International Conference
- Tags: Automation and Robotics, Artificial Intelligence (incl. Robotics), Systems Theory Control, Machinery and Machine Elements, Control Engineering
- Series: Springer Tracts in Advanced Robotics 25
- Year: 2006
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience.
Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots.
This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience.
Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots.
This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience.
Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots.
This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
Content:
Front Matter....Pages I-XVII
Front Matter....Pages 1-1
Container Port Automation....Pages 3-8
The Berkeley Lower Extremity Exoskeleton....Pages 9-15
Front Matter....Pages 17-17
Autonomous Helicopter Tracking and Localization Using a Self-Surveying Camera Array....Pages 19-30
Visual Motion Estimation for an Autonomous Underwater Reef Monitoring Robot....Pages 31-42
Road Obstacle Detection Using Robust Model Fitting....Pages 43-54
Real-Time Regular Polygonal Sign Detection....Pages 55-66
Distinctness Analysis on Natural Landmark Descriptors....Pages 67-78
Bimodal Active Stereo Vision....Pages 79-90
Front Matter....Pages 91-91
A System for Automatic Marking of Floors in Very Large Spaces....Pages 93-104
Development of an Angular Characterisation System for Cooperative UAV / UGV Applications....Pages 105-116
Topological Global Localization for Subterranean Voids....Pages 117-128
A Navigation System for Automated Loaders in Underground Mines....Pages 129-140
Front Matter....Pages 141-141
Outdoor Simultaneous Localisation and Mapping Using RatSLAM....Pages 143-154
Implementation Issues and Experimental Evaluation of D-SLAM....Pages 155-166
Scan-SLAM: Combining EKF-SLAM and Scan Correlation....Pages 167-178
A Non-rigid Approach to Scan Alignment and Change Detection Using Range Sensor Data....Pages 179-194
An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping....Pages 195-206
Online Reconstruction of Vehicles in a Car Park....Pages 207-218
Wavelet Occupancy Grids: A Method for Compact Map Building....Pages 219-230
Further Results with Localization and Mapping Using Range from Radio....Pages 231-242
Front Matter....Pages 141-141
Experiments with Robots and Sensor Networks for Mapping and Navigation....Pages 243-254
Front Matter....Pages 255-255
Applying a New Model for Machine Perception and Reasoning in Unstructured Environments....Pages 257-268
Constrained Motion Planning in Discrete State Spaces....Pages 269-280
Vision-Based Grasping Points Determination by Multifingered Hands....Pages 281-292
Embodied Social Interaction for Service Robots in Hallway Environments....Pages 293-304
Intentional Motion Online Learning and Prediction....Pages 305-316
Front Matter....Pages 317-317
Design and Locomotion of a Semi-passive Mobile Platform....Pages 319-330
Wheel Control Based on Body Configuration for Step-Climbing Vehicle....Pages 331-342
Ball-Shaped Robots: An Historical Overview and Recent Developments at TKK....Pages 343-354
Development of a Water-Hydraulic Self-Propelled Robotic Drill for Underground Mining....Pages 355-366
A Wearable GUI for Field Robots....Pages 367-376
Design and Implementation of Machine Control Systems with Modern Software Development Tools....Pages 377-388
Long-Term Activities for Autonomous Mobile Robot....Pages 389-400
Front Matter....Pages 401-401
Synthesized Scene Recollection for Robot Teleoperation....Pages 403-414
Development of a Networked Robotic System for Disaster Mitigation — Test Bed Experiments for Remote Operation over Rough Terrain and High Resolution 3D Geometry Acquisition....Pages 415-425
Front Matter....Pages 427-427
Towards Intelligent Miniature Flying Robots....Pages 429-440
Design of an Ultra-lightweight Autonomous Solar Airplane for Continuous Flight....Pages 441-452
Control and Guidance for a Tail-Sitter Unmanned Air Vehicle....Pages 453-464
The Development of a Real-Time Modular Architecture for the Control of UAV Teams....Pages 465-476
Front Matter....Pages 477-477
Trajectory Generation on Rough Terrain Considering Actuator Dynamics....Pages 479-490
Front Matter....Pages 477-477
Results in Combined Route Traversal and Collision Avoidance....Pages 491-504
Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle....Pages 505-516
Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification....Pages 517-528
3D Position Tracking in Challenging Terrain....Pages 529-540
Efficient Braking Model for Off-Road Mobile Robots....Pages 541-552
Front Matter....Pages 553-553
Autonomous Excavation Using a Rope Shovel....Pages 555-566
Automated Inspection System for Large Underground Concrete Pipes Under Operating Conditions....Pages 567-578
An Autonomous Weeding Robot for Organic Farming....Pages 579-590
V Shape Path Generation for Loading Operation by Wheel Loader....Pages 591-602
Development of an Autonomous Forest Machine for Path Tracking....Pages 603-614
Back Matter....Pages 615-616
The 5th International Conference on Field and Service Robotics (FSR05) was held in Port Douglas, Australia, on 29th - 31st July 2005, and brought together the worlds' leading experts in field and service automation. The goal of the conference was to report and encourage the latest research and practical results towards the use of field and service robotics in the community with particular focus on proven technology. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience.
Field robots are robots which operate in outdoor, complex, and dynamic environments. Service robots are those that work closely with humans, with particular applications involving indoor and structured environments. There are a wide range of topics presented in this issue on field and service robots including: Agricultural and Forestry Robotics, Mining and Exploration Robots, Robots for Construction, Security & Defence Robots, Cleaning Robots, Autonomous Underwater Vehicles and Autonomous Flying Robots.
This meeting was the fifth in the series and brings FSR back to Australia where it was first held. FSR has been held every 2 years, starting with Canberra 1997, followed by Pittsburgh 1999, Helsinki 2001 and Lake Yamanaka 2003.
Content:
Front Matter....Pages I-XVII
Front Matter....Pages 1-1
Container Port Automation....Pages 3-8
The Berkeley Lower Extremity Exoskeleton....Pages 9-15
Front Matter....Pages 17-17
Autonomous Helicopter Tracking and Localization Using a Self-Surveying Camera Array....Pages 19-30
Visual Motion Estimation for an Autonomous Underwater Reef Monitoring Robot....Pages 31-42
Road Obstacle Detection Using Robust Model Fitting....Pages 43-54
Real-Time Regular Polygonal Sign Detection....Pages 55-66
Distinctness Analysis on Natural Landmark Descriptors....Pages 67-78
Bimodal Active Stereo Vision....Pages 79-90
Front Matter....Pages 91-91
A System for Automatic Marking of Floors in Very Large Spaces....Pages 93-104
Development of an Angular Characterisation System for Cooperative UAV / UGV Applications....Pages 105-116
Topological Global Localization for Subterranean Voids....Pages 117-128
A Navigation System for Automated Loaders in Underground Mines....Pages 129-140
Front Matter....Pages 141-141
Outdoor Simultaneous Localisation and Mapping Using RatSLAM....Pages 143-154
Implementation Issues and Experimental Evaluation of D-SLAM....Pages 155-166
Scan-SLAM: Combining EKF-SLAM and Scan Correlation....Pages 167-178
A Non-rigid Approach to Scan Alignment and Change Detection Using Range Sensor Data....Pages 179-194
An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping....Pages 195-206
Online Reconstruction of Vehicles in a Car Park....Pages 207-218
Wavelet Occupancy Grids: A Method for Compact Map Building....Pages 219-230
Further Results with Localization and Mapping Using Range from Radio....Pages 231-242
Front Matter....Pages 141-141
Experiments with Robots and Sensor Networks for Mapping and Navigation....Pages 243-254
Front Matter....Pages 255-255
Applying a New Model for Machine Perception and Reasoning in Unstructured Environments....Pages 257-268
Constrained Motion Planning in Discrete State Spaces....Pages 269-280
Vision-Based Grasping Points Determination by Multifingered Hands....Pages 281-292
Embodied Social Interaction for Service Robots in Hallway Environments....Pages 293-304
Intentional Motion Online Learning and Prediction....Pages 305-316
Front Matter....Pages 317-317
Design and Locomotion of a Semi-passive Mobile Platform....Pages 319-330
Wheel Control Based on Body Configuration for Step-Climbing Vehicle....Pages 331-342
Ball-Shaped Robots: An Historical Overview and Recent Developments at TKK....Pages 343-354
Development of a Water-Hydraulic Self-Propelled Robotic Drill for Underground Mining....Pages 355-366
A Wearable GUI for Field Robots....Pages 367-376
Design and Implementation of Machine Control Systems with Modern Software Development Tools....Pages 377-388
Long-Term Activities for Autonomous Mobile Robot....Pages 389-400
Front Matter....Pages 401-401
Synthesized Scene Recollection for Robot Teleoperation....Pages 403-414
Development of a Networked Robotic System for Disaster Mitigation — Test Bed Experiments for Remote Operation over Rough Terrain and High Resolution 3D Geometry Acquisition....Pages 415-425
Front Matter....Pages 427-427
Towards Intelligent Miniature Flying Robots....Pages 429-440
Design of an Ultra-lightweight Autonomous Solar Airplane for Continuous Flight....Pages 441-452
Control and Guidance for a Tail-Sitter Unmanned Air Vehicle....Pages 453-464
The Development of a Real-Time Modular Architecture for the Control of UAV Teams....Pages 465-476
Front Matter....Pages 477-477
Trajectory Generation on Rough Terrain Considering Actuator Dynamics....Pages 479-490
Front Matter....Pages 477-477
Results in Combined Route Traversal and Collision Avoidance....Pages 491-504
Adaptation to Rough Terrain by Using COF Estimation on a Quadruped Vehicle....Pages 505-516
Multi-solution Problem for Track-Terrain Interaction Dynamics and Lumped Soil Parameter Identification....Pages 517-528
3D Position Tracking in Challenging Terrain....Pages 529-540
Efficient Braking Model for Off-Road Mobile Robots....Pages 541-552
Front Matter....Pages 553-553
Autonomous Excavation Using a Rope Shovel....Pages 555-566
Automated Inspection System for Large Underground Concrete Pipes Under Operating Conditions....Pages 567-578
An Autonomous Weeding Robot for Organic Farming....Pages 579-590
V Shape Path Generation for Loading Operation by Wheel Loader....Pages 591-602
Development of an Autonomous Forest Machine for Path Tracking....Pages 603-614
Back Matter....Pages 615-616
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