Ebook: Field and Service Robotics: Results of the 7th International Conference

The seventh edition of Field and Service Robotics, edited by Andrew Howard, Karl Iagnemma and Alonzo Kelly, offers an eleven chapter collection of a broad range of topics spanning: design, perception and control; tracking and sensing; localization and mapping; multi-robot cooperation and human-robot interaction; mining, maritime and planetary robotics. The volume's forty-five contributions represent a cross-section of the current state of robotics research from one particular aspect: field and service applications. Pursuing technologies aimed at realizing robots operating in complex and dynamic environments, as well as robots working closely with humans, is the overarching theme running throughout this collection.

---

The seventh edition of Field and Service Robotics, edited by Andrew Howard, Karl Iagnemma and Alonzo Kelly, offers an eleven chapter collection of a broad range of topics spanning: design, perception and control; tracking and sensing; localization and mapping; multi-robot cooperation and human-robot interaction; mining, maritime and planetary robotics. The volume's forty-five contributions represent a cross-section of the current state of robotics research from one particular aspect: field and service applications. Pursuing technologies aimed at realizing robots operating in complex and dynamic environments, as well as robots working closely with humans, is the overarching theme running throughout this collection.

---

The seventh edition of Field and Service Robotics, edited by Andrew Howard, Karl Iagnemma and Alonzo Kelly, offers an eleven chapter collection of a broad range of topics spanning: design, perception and control; tracking and sensing; localization and mapping; multi-robot cooperation and human-robot interaction; mining, maritime and planetary robotics. The volume's forty-five contributions represent a cross-section of the current state of robotics research from one particular aspect: field and service applications. Pursuing technologies aimed at realizing robots operating in complex and dynamic environments, as well as robots working closely with humans, is the overarching theme running throughout this collection.
Content:
Front Matter....Pages -
Front Matter....Pages 1-1
Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications....Pages 3-12
Towards Autonomous Wheelchair Systems in Urban Environments....Pages 13-23
Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and Its Launching Winch)....Pages 25-34
New Measurement Concept for Forest Harvester Head....Pages 35-44
Expliner – Toward a Practical Robot for Inspection of High-Voltage Lines....Pages 45-55
Front Matter....Pages 57-57
Experimental Study of an Optimal-Control- Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios....Pages 59-68
Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths....Pages 69-78
Posterior Probability Estimation Techniques Embedded in a Bayes Filter for Vibration-Based Terrain Classification....Pages 79-89
Towards Visual Arctic Terrain Assessment....Pages 91-100
Front Matter....Pages 101-101
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data....Pages 103-112
Passive, Long-Range Detection of Aircraft: Towards a Field Deployable Sense and Avoid System....Pages 113-123
Vision-Based Vehicle Trajectory Following with Constant Time Delay....Pages 125-135
Front Matter....Pages 137-147
Radar Scan Matching SLAM Using the Fourier-Mellin Transform....Pages 149-149
An Automated Asset Locating System (AALS) with Applications to Inventory Management....Pages 151-161
Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models....Pages 163-172
Outdoor Downward-Facing Optical Flow Odometry with Commodity Sensors....Pages 173-182
Place Recognition Using Regional Point Descriptors for 3D Mapping....Pages 183-193
Front Matter....Pages 195-204
Scan-Point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment....Pages 205-205
Image and Sparse Laser Fusion for Dense Scene Reconstruction....Pages 207-217
Front Matter....Pages 219-228
Relative Motion Threshold for Rejection in ICP Registration....Pages 205-205
Bandit-Based Online Candidate Selection for Adjustable Autonomy....Pages 229-238
Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain....Pages 239-248
Front Matter....Pages 249-259
Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking....Pages 261-261
AUV Benthic Habitat Mapping in South Eastern Tasmania....Pages 263-273
Sensor Network Based AUV Localisation....Pages 275-284
Experiments in Visual Localisation around Underwater Structures....Pages 285-294
Front Matter....Pages 295-304
Leap-Frog Path Design for Multi-Robot Cooperative Localization....Pages 305-305
A Location-Based Algorithm for Multi-Hopping State Estimates within a Distributed Robot Team....Pages 307-317
Cooperative AUV Navigation Using a Single Surface Craft....Pages 319-329
Multi-Robot Fire Searching in Unknown Environment....Pages 331-340
Front Matter....Pages 341-351
Using Virtual Articulations to Operate High-DoF Inspection and Manipulation Motions....Pages 353-353
Field Experiment on Multiple Mobile Robots Conducted in an Underground Mall....Pages 355-364
Learning to Identify Users and Predict Their Destination in a Robotic Guidance Application....Pages 365-375
Long Term Learning and Online Robot Behavior Adaptation for Individuals with Physical and Cognitive Impairments....Pages 377-387
Front Matter....Pages 389-398
Swing Trajectory Control for Large Excavators....Pages 399-399
The Development of a Telerobotic Rock Breaker....Pages 401-410
Camera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids....Pages 411-420
Front Matter....Pages 421-430
A Communication Framework for Cost-Effective Operation of AUVs in Coastal Regions....Pages 431-431
Multi-Robot Collaboration with Range-Limited Communication: Experiments with Two Underactuated ASVs....Pages 433-442
Front Matter....Pages 443-453
A Simple Reactive Obstacle Avoidance Algorithm and Its Application in Singapore Harbor....Pages 431-431
Front Matter....Pages 455-465
Model Predictive Control for Mobile Robots with Actively Reconfigurable Chassis....Pages 467-467
Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing....Pages 469-478
Field Experiments in Mobility and Navigation with a Lunar Rover Prototype....Pages 479-488
Rover-Based Surface and Subsurface Modeling for Planetary Exploration....Pages 489-498
Back Matter....Pages 499-508
....Pages -