Download e-book for iPad: Algorithmic Foundations of Robotics XI: Selected by H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van

By H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen

ISBN-10: 3319165941

ISBN-13: 9783319165943

This rigorously edited quantity is the end result of the 11th version of the Workshop on Algorithmic Foundations of Robotics (WAFR), that is the superior venue showcasing leading edge examine in algorithmic robotics. The 11th WAFR, which used to be held August 3-5, 2014 at Boğaziçi collage in Istanbul, Turkey persevered this practice. This quantity includes prolonged models of the forty two papers provided at WAFR. those contributions spotlight the innovative learn in classical robotics difficulties (e.g. manipulation, movement, course, multi-robot and kinodynamic planning), geometric and topological computation in robotics to boot novel functions comparable to informative direction making plans, lively sensing and surgical making plans. This publication - wealthy via issues and authoritative members - is a different reference at the present advancements and new instructions within the box of algorithmic foundations.

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Extra resources for Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics

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In [5] we introduce the class of hierarchy-invariant vector fields, FHC (τ ) : = f : Conf Rd , J → Rd J ˚ (τ ) , t > 0 , ϕt S (τ ) ⊂ S (4) and use them to construct a hybrid controller that invariantly retracts almost all of a stratum onto any designated interior goal configuration. Namely, working with the 2-means divisive hierarchical clustering method [30], HC2-means , given a hierarchy ˚ (τ ) we construct a pair of vector fields, f y , f s(y) ∈ τ ∈BT J and an interior goal, y∈S FHC (τ ) with the following properties.

Info 16 A. Adler et al. unlabeled problem without this extra separation condition. It seems that in the general unlabeled problem it is unavoidable to consider the coordination of robots in the joint high-dimensional configuration space and thus we believe that the general unlabeled problem is computationally intractable. We are investigating a possible connection between the general unlabeled problem and a problem that was considered by Hearn and Demaine [6], which is a variation of the unlabled pebble problem (Sect.

There are likely to be many alternative approaches to such results, but for purposes of this paper we will simply assume the availability of exactly such a prior construction that we summarize as follows. Algorithm 1 ([5]) For any τ ∈ BT J and y ∈ S (τ ) associated with HC construct a (possibly hybrid) quadratic, O |J |2 , time computable control policy, f τ ,y , using the hierarchy invariant vector fields of FHC (τ ) whose closed loop results in a retraction, Rτ ,y , of Sz (τ ) onto {y}, where S (τ ) \ Sz (τ ) has zero measure.

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Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics by H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen


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