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

672 Pages·2009·21.84 MB·English

by  Eric Meisner

Springer Tracts in Advanced Robotics
Volume 57
Editors:BrunoSiciliano·OussamaKhatib·FransGroen
Gregory S. Chirikjian, Howie Choset,
Marco Morales, Todd Murphey (Eds.)
Algorithmic Foundations
of Robotics VIII
Selected Contributions of the
Eighth International Workshop
on the Algorithmic
Foundations of Robotics
ABC
ProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitàdiNapoliFedericoII,
ViaClaudio21,80125Napoli,Italy,E-mail:[e-mail]
ProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,
StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:[e-mail]
ProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,
1098SJAmsterdam,TheNetherlands,E-mail:[e-mail]
Editors
GregoryS.Chirikjian MarcoMorales
DepartmentofMechanicalEngineering SistemasDigitales
TheJohnsHopkinsUniversity InstitutoTecnológico
Baltimore,Maryland21218 AutónomodeMéxico
USA RioHondo1,ProgresoTizapán
E-mail:[e-mail] MéxicoD.F.,01080,México
E-mail:[e-mail]
HowieChoset ToddMurphey
CarnegieMellonUniversity DepartmentofMechanicalEngineering
5000ForbesAve NorthwesternUniversity
Newell-SimonHall3211 2145SheridanRoad
PittsburghPA15213 Evanston,IL60208
USA USA
E-mail:[e-mail] E-mail:[e-mail]
ISBN978-3-642-00311-0 e-ISBN978-3-642-00312-7
DOI 10.1007/978-3-642-00312-7
SpringerTractsinAdvancedRobotics ISSN1610-7438
LibraryofCongressControlNumber:2009941045
(cid:2)c2010Springer-VerlagBerlinHeidelberg
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EditorialAdvisoryBoard
OliverBrock,TUBerlin,Germany
HermanBruyninckx,KULeuven,Belgium
RajaChatila,LAAS,France
HenrikChristensen,GeorgiaTech,USA
PeterCorke,CSIRO,Australia
PaoloDario,ScuolaS.AnnaPisa,Italy
RüdigerDillmann,Univ.Karlsruhe,Germany
KenGoldberg,UCBerkeley,USA
JohnHollerbach,Univ.Utah,USA
MakotoKaneko,OsakaUniv.,Japan
LydiaKavraki,RiceUniv.,USA
VijayKumar,Univ.Pennsylvania,USA
SukhanLee,SungkyunkwanUniv.,Korea
FrankPark,SeoulNationalUniv.,Korea
TimSalcudean,Univ.BritishColumbia,Canada
RolandSiegwart,ETHZurich,Switzerland
GuaravSukhatme,Univ.SouthernCalifornia,USA
SebastianThrun,StanfordUniv.,USA
YangshengXu,ChineseUniv.HongKong,PRC
Shin’ichiYuta,TsukubaUniv.,Japan
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Foreword
Bythedawnofthenewmillennium,roboticshasundergoneamajortransformation
inscopeanddimensions.Thisexpansionhasbeenbroughtaboutbythematurityof
the field andthe advancesin itsrelated technologies.From a largelydominantin-
dustrialfocus,roboticshasbeenrapidlyexpandingintothechallengesofthehuman
world.Thenewgenerationofrobotsisexpectedtosafelyanddependablyco-habitat
withhumansinhomes,workplaces,andcommunities,providingsupportinservices,
entertainment,education,healthcare,manufacturing,andassistance.
Beyondits impacton physicalrobots,the bodyof knowledgeroboticshaspro-
duced is revealing a much wider range of applications reaching across diverse
research areas and scientific disciplines, such as: biomechanics, haptics, neuro-
sciences,virtualsimulation,animation,surgery,andsensornetworksamongothers.
Inreturn,thechallengesofthenewemergingareasareprovinganabundantsource
ofstimulationandinsightsforthefieldofrobotics.Itisindeedattheintersectionof
disciplinesthatthemoststrikingadvanceshappen.
The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to
bring,ina timelyfashion,thelatestadvancesanddevelopmentsinroboticsonthe
basisoftheirsignificanceandquality.Itisourhopethatthewiderdisseminationof
researchdevelopmentswillstimulatemoreexchangesandcollaborationsamongthe
researchcommunityandcontributetofurtheradvancementofthisrapidlygrowing
field.
ThisvolumeistheoutcomeoftheeighteditionofthebiennialWorkshopAlgo-
rithmicFoundationsof Robotics(WAFR). EditedbyG. Chirikjian,H. Choset, M.
Moralesand T.Murphey,the bookoffersa collectionofa wide rangeoftopicsin
advancedrobotics,includingnetworkedrobots,distributedsystems, manipulation,
planning under uncertainty, minimalism, geometric sensing, geometric computa-
tion,stochasticplanningmethods,andmedicalapplications.
Thecontentsoftheforty-twocontributionsrepresentacross-sectionofthecurrent
stateofresearchfromoneparticularaspect:algorithms,andhowtheyareinspiredby
classical disciplines,such as discrete andcomputationalgeometry,differentialge-
ometry,mechanics,optimization,operationsresearch,computerscience,probability
VIII Foreword
andstatistics,andinformationtheory.Validationofalgorithms,designconcepts,or
techniquesisthecommonthreadrunningthroughthisfocusedcollection.
Richbytopicsandauthoritativecontributors,WAFRculminateswiththisunique
referenceonthecurrentdevelopmentsandnewdirectionsinthefieldofalgorithmic
foundations.Averyfineadditiontotheseries!
Naples,Italy
September2009 BrunoSiciliano
STAREditor
Preface
Robotalgorithmsspanareasincludingmotionplanning,dynamics,control,manip-
ulation,stateestimation,andperception.Thesealgorithmsdrawfromanumberof
sourcesincludingdiscreteandcomputationalgeometry,differentialgeometry,me-
chanics,optimization,operationsresearch,theoreticalcomputerscience,probability
andstatistics,andinformationtheory.Conceptsfromtheseclassicaldisciplinesare
recombinedin newwaysandenrichedwhenappliedtoproblemsinrobotics.And
broaderfields of scientific inquiry(such as biomolecularmodeling,rehabilitation,
computer-integratedsurgicalsystems,medicalimaging,sensornetworks,automated
transportationsystems,MEMS,andcomputer-aideddesign)allhavebenefittedfrom
the application of robotics algorithms. The computationsperformedas a result of
these robot algorithms may be implemented in software on classical or parallel
computers, hardwired in electronics, encoded in neural networks, or in the future
mightbeimplementedinyet-to-bedemonstratedtechnologiessuchasbiomolecular
orquantumcomputing.Therefore,researchinrobotalgorithmsishighlyconnected
tothebroaderscientificcommunity.
TheEighthInternationalWorkshopontheAlgorithmicFoundationsofRobotics
(WAFR)broughttogetheragroupofapproximatelyonehundredresearchersfrom
the US, Europe,and Mexico.The EighthWAFR was held December7-9,2008at
theCaminoRealHotelinhistoricGuanajuato,Me´xico,whichwasfoundedin1546.
Forty-tworefereedpaperswerepresented,whicharereflectedinthisvolume.Three
keynotelecturesweregivenby:KazuhiroSaitou,U.ofMichigan;Jose´LuisMarro-
qun,CIMAT,andJoelBurdick,Caltech.Topicsofpaperscanberoughlyclassified
intothecategoriesofnetworkedrobots,distributedsystems,manipulation,planning
underuncertainty,minimalism,geometricsensing,geometriccomputation,stochas-
ticplanningmethods,andmedicalapplications.
Inadditiontotheorganizers,theprogramcommitteeconsistedofthefollowing
peoplewhocontributedreviewsandadvertisedtheworkshop:DevinBalkcom,Ale-
jandra Barrera, Timothy H. Chung, Noah Cowan, Magnus Egerstedt, Claudia Es-
teves, Robert Ghrist, Bill Goodwine, Dan Halperin, Seth Hutchinson, David Hsu,
Lydia Kavraki, Sven Koenig, Vijay Kumar, Steve LaValle, Kevin Lynch, Mark
Moll, Rafael Murrieta, Jim Ostrowski, Mark Overmars, Daniela Rus, Gildardo
X Preface
Sa´nchez-Ante,NicolaSimeon,SiddSrinivasa,EnriqueSucar,JeffTrinkle,Yunfeng
Wang,AlfredoWeitzenfeld,JingXiao,DiannaXu.
Weareindebtwithmanyindividualsandorganizationswhosehelpanddedicated
workmadethismeetingpossible.Wegiveourthanksto:thestudentvolunteersfrom
ITAM,CIMAT,Tec.deMonterreycampusGuadalajara,andUAEMfortheirhard
work; our institutions (CMU, ITAM, Johns Hopkins, Colorado) for their support;
SaraRidel,CarmenRosas,andLeticiaVitelafromViajesPolancofortheirpatience
anddiligencetohelpthemeetingrunsmoothly;Sen.FranciscoArroyoVieyrafor
promotingsupportfromthe governmentof Guanajuato;SergioRodr´ıguezandthe
membersof Secretar´ıa de Desarrollo Tur´ıstico del Estado de Guanajuato for their
assistance with the logistics and for sponsoring the transportation to the banquet;
thepersonnelfromHotelCaminoRealwhomadeusfeelathome;andtheWAFR
steeringcommitteefortheirthoughtfuladviceinpreparationforthemeeting.
September2009 GregoryS.Chirikjian
HowieChoset
MarcoMorales
ToddMurphey
Acknowledgements
We areindebtwithmanyindividualsandorganizationswhosehelpanddedicated
workmadethismeetingpossible.Wegiveourthanksto:thestudentvolunteersfrom
ITAM,CIMAT,Tec.deMonterreycampusGuadalajara,andUAEMfortheirhard
work; our institutions (CMU, ITAM, Johns Hopkins, Colorado) for their support;
SaraRidel,CarmenRosas,andLeticiaVitelafromViajesPolancofortheirpatience
anddiligencetohelpthemeetingrunsmoothly;Sen.FranciscoArroyoVieyrafor
promotingsupportfromthe governmentof Guanajuato;SergioRodr´ıguezandthe
membersof Secretar´ıa de Desarrollo Tur´ıstico del Estado de Guanajuato for their
assistance with the logistics and for sponsoring the transportation to the banquet;
thepersonnelfromHotelCaminoRealwhomadeusfeelathome;andtheWAFR
steeringcommitteefortheirthoughtfuladviceinpreparationforthemeeting.
Contents
PartI:Networks
ProbabilisticNetworkFormationthroughCoverageandFreeze-Tag.... 3
EricMeisner,WeiYang,VolkanIsler
PlanningAimsforaNetworkofHorizontalandOverheadSensors..... 19
ErikHalvorson,RonaldParr
Mobile Wireless Sensor Network Connectivity Repair with
K-Redundancy ................................................ 35
NuzhetAtay,BurchanBayazit
PartII:Distributed Systems
OnEndogenousReconfigurationinMobileRoboticNetworks ......... 53
KetanSavla,EmilioFrazzoli
SimultaneousControlofMultipleMEMSMicrorobots ............... 69
BruceR.Donald,ChristopherG.Levey,IgorPaprotny,DanielaRus
SimultaneousCoverageandTracking(SCAT)ofMovingTargetswith
RobotNetworks................................................ 85
LucianoC.A.Pimenta,MacSchwager,QuentinLindsey,VijayKumar,
DanielaRus,RenatoC.Mesquita,GuilhermeA.S.Pereira
CooperativeTowingwithMultipleRobots.......................... 101
PengCheng,JonathanFink,SoonkyumKim,VijayKumar
PartIII:Manipulation
TwoFingerCaging:SqueezingandStretching ...................... 119
AlbertoRodriguez,MatthewT.Mason