Robotics

Algorithmic Foundation of Robotics VIII: Selected - download pdf or read online

By Eric Meisner, Wei Yang, Volkan Isler (auth.), Gregory S. Chirikjian, Howie Choset, Marco Morales, Todd Murphey (eds.)

ISBN-10: 3642003117

ISBN-13: 9783642003110

ISBN-10: 3642003125

ISBN-13: 9783642003127

This quantity is the result of the 8th variation of the biennial Workshop on Algorithmic Foundations of Robotics (WAFR). Edited via G.S. Chirikjian, H. Choset, M. Morales and T. Murphey, the publication deals a set of quite a lot of issues in complicated robotics, together with networked robots, disbursed platforms, manipulation, making plans lower than uncertainty, minimalism, geometric sensing, geometric computation, stochastic making plans tools, and clinical applications.

The contents of the forty-two contributions signify a cross-section of the present kingdom of study from one specific element: algorithms, and the way they're encouraged via classical disciplines, comparable to discrete and computational geometry, differential geometry, mechanics, optimization, operations examine, laptop technology, likelihood and facts, and data conception. Validation of algorithms, layout innovations, or innovations is the typical thread working via this concentrated assortment. wealthy through themes and authoritative members, WAFR culminates with this targeted reference at the present advancements and new instructions within the box of algorithmic foundations.

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Additional resources for Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics

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2 2000 2 10 20 30 40 50 60 Stripes 70 80 90 0 100 1 2 3 4 5 6 7 8 9 10 Stripes (a) Sparse environment (b) Dense environment Fig. 5. Comparison of Split-and-Cover strategy with Stripes algorithm for varying number of stripes. The plotted values are the average time to completion of 1000 trials. Left: 1000×1000 unit world with 20 robots. Right: 100 × 100 unit world with 100 robots. Split and cover 150 25 Stripes 150 Split and cover 7 Stripes 0 0 100 50 1 2 3 runtime 4 5 5 x 10 (a) Split-and-Cover Sparse 1000 0 0 1 2 3 runtime 4 5 5 x 10 (b) Stripes Sparse trials 50 trials trials trials 200 100 100 0 500 1000 1500 runtime (c) Split-and-Cover Dense 500 0 2850 2900 runtime 2950 (d) Stripes Dense Fig.

A planar projection of a visual hull is a set of polygons P lying at the intersections of the silhouette cones from each sensor. Assuming that the entire region of interest is covered by at least two horizontal sensors, all objects in the scene must be located within polygons, although not all 22 E. Halvorson and R. Parr c1 c2 c3 c4 Fig. 1. (top left) Example silhouette cones. c1 and c2 both contain exactly one object, c3 contains two objects where the object farther from the sensor is viewed partially occluded, and the rear object is fully occluded in c4 .

The remaining Ai and Bi values can be determined by successively applying Equations 7 and 8. In Equation 7, A1 is equated to hwr , producing equation 8 where B1 is expressed using the number of active robots, r, the width of a stripe w = wn , and the height of the overall environment, h. 10 E. Meisner, W. Yang, and V. Isler 4 Bi = 1+ Bi−1 w − 2i hw = B1 (w − 2) + 2h r hw − 2h h(w − 2r) B1 = r = w −2 r(w − 2) A1 = (6) (7) (8) The limitation of this single stripe strategy is that the number of active robots must be less than half of a single stripe’s width, r < w2 .

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Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics by Eric Meisner, Wei Yang, Volkan Isler (auth.), Gregory S. Chirikjian, Howie Choset, Marco Morales, Todd Murphey (eds.)


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