Field and Service Robotics

Front Matter....Pages I-XI
Mobile Robots and Smart Cars....Pages 1-5
Mobile Manipulators: Expanding the Frontiers of Robot Applications....Pages 6-11
Robot Navigation Inspired by Principles of Insect Vision....Pages 12-16
Behaviour-based Robots for Dangerous and Difficult Environments....Pages 17-19
Towards Useful Autonomous Robotic Systems for Field and Service Applications....Pages 20-23
Intelligent Robotics — Where are we at and where are we going?....Pages 24-31
Behaviour programmable machines for field construction operations....Pages 31-39
Map Building and Terrain-Aided Localisation in an Underground Mine....Pages 40-45
3D Perception for Mining Robotics....Pages 46-52
The Numbat: A Remotely Controlled Mine Emergency Response Vehicle....Pages 53-59
Motion Planning and Sensor-Guided Manœuvre Generation for an Autonomous Vehicle....Pages 60-67
Fault Detection in the Frequency Domain: Designing Reliable Navigation Systems....Pages 68-73
Lessons from the Development and Deployment of Dante II....Pages 74-81
Operating Nomad during the Atacama Desert Trek....Pages 82-89
Some Details of the Development of Mobile Robot Platforms....Pages 90-95
Field Experiments with the Ames Marsokhod Rover....Pages 96-103
A Case Study in Machine Intelligence: Adaptive Autonomous Space Rovers....Pages 104-111
Navigation Data Acquisition with an Experimental Test-Bed of Planetary Exploration Rover....Pages 112-117
Town Robot....Pages 118-123
Towards Autonomous Excavation....Pages 124-128
A mobile robot for training horses....Pages 129-132
User-friendly Interface of Service Robot: Knowledge Projection on Robot Task Environment....Pages 133-138
Web Telerobotics — Results and Issues....Pages 139-145
Teleoperation of Autonomous Mobile Robot under Limited Feedback Information....Pages 146-151
Smart Man-Machine Interfaces by Means of Projective Virtual Reality....Pages 152-159
Using Telerobots for Recreation....Pages 160-165
Applying telepresence and augmented reality techniques in teleoperation of mobile field robots....Pages 166-170
Memory-Based Navigation using Omni-View Sequence....Pages 171-178
Automation of an Industrial Fork Lift Truck, Guided by Artificial Vision, Ultrasonic and Infrared Sensors in Open Environments....Pages 179-186
Robot Cleaning: An Application of Distributed Planning and Real-Time Vision....Pages 187-194
Autonomous Mobile Robot Navigation Including Door Opening Behavior....Pages 195-202
Coverage Path Planning: The Boustrophedon Cellular Decomposition....Pages 203-209
Cooperation between Intelligent Space and Mobile Robot: Physical Agent for Intelligent Space and Extended Sensor for Mobile Robot....Pages 210-216
Map Learning of an Office Conversant Mobile Robot, Jijo-2, by Dialogue-Guided Navigation....Pages 217-222
Robotic Sensing for the Guidance of the Visually Impaired....Pages 223-230
Towards Terrain Aided Navigation of a Subsea Vehicle....Pages 231-236
A Multiple-Hypothesis Approach to Concurrent Mapping and Localization for Autonomous Underwater Vehicles....Pages 237-244
Design and Control of Underwater Wall Ranging Robot for Inspection of Nuclear Reactor....Pages 245-250
Real robots in an artificial world....Pages 251-258
An Adaptive Fuzzy-potential Field Approach to Navigation in Dynamically Changing Environments for Practical Applications....Pages 259-266
The GPS Aiding of INS for Land Vehicle Navigation....Pages 267-274
The Use of Quaternions In a Low Cost Strapdown INS Unit....Pages 275-280
The Design of a High Performance MMW Radar System for Autonomous Land Vehicle Navigation....Pages 281-288
An Autonomous Shadow Vehicle....Pages 289-294
Optimal Data Fusion in Decentralised Systems with Flexible Observation Rates: Estimation for a Land Vehicle....Pages 295-301
A Gopher Robot....Pages 302-307
Mobile Robotic Hand-Eye Co-ordination Platform: Design and Modelling....Pages 308-314
Monocular Vision Applied to Accurate ROV Localization....Pages 315-321
Hunt and Gather Robotics....Pages 322-329
Design and Implementation of Distributed Controller and its Operating System for Autonomous Mobile Robot Platform....Pages 330-335
Vision-Based Navigation Using Natural Landmarks....Pages 336-343
On Continuous Path Tasks for a 6-DOF Manipulator Mounted on a Nonholonomic Mobile Platform....Pages 344-349
Discrete Event Control for Mobile Robots....Pages 350-355
Hierarchical Adaptive Fuzzy Control of Mobile Robot in Dynamic Environment....Pages 356-363
Electric Field Based Obstacle Avoidance....Pages 364-368
Shared Discrete Event Control of a Robotic Aid for the Blind....Pages 369-375
Evaluation of Real-Time Robot Control Systems....Pages 376-383
Identification of Load Sway in Quay-Cranes....Pages 384-389
Path Design and Control Algorithms for Articulated Mobile Robots....Pages 390-396
A Practical Trajectory Following of an Articulated Steering Type Vehicle....Pages 397-404
An Autonomous Wheelchair with a LonWorks Network based Distributed Control System....Pages 405-410
Utility Fusion: Map-Based Planning in a Behavior-Based System....Pages 411-418
A New Collision Avoidance Methodology for Multi-Robot-Systems Based on the Robots’ Dynamics....Pages 419-426
Exploitation of Kinematic Redundancy in Torque-Controllable Manipulators via Multiple-Jacobian Superposition....Pages 427-433
Toward blind groping: an approach to manipulation in unknown sensor-hostile environments....Pages 434-440
Dynamic Simulation of Free-Flying Space Robots for Service and Exploration....Pages 441-446
Smart End-effector Sensing for Variable Object Handling....Pages 447-450
Recruiting swarm robots using coded odour trails....Pages 451-455
An Exploratory Robot Controller which Adapts to Unknown Environments and Damaged Sensors....Pages 456-463
An Autonomous Blimp....Pages 464-470
Omnidirectional Robots: New Challenges in Mobility, Vision and Tactics for Robot Soccer....Pages 471-476
Versatility for Unknown Worlds: Mobile Sensors and Self-reconfiguring Robots....Pages 477-484
Design Concept and Realization of the Humanoid Service Robot HERMES ....Pages 485-492
What Can Robotics Researchers Learn from the Land Mine Problem?....Pages 493-499
Anti-Personnel Mine Detection Manipulator....Pages 500-506
Large Scale Sonarray Mapping using Multiple Connected Local Maps....Pages 507-514
Rotating Sonar: Modeling and Application....Pages 515-520
Recognising landmarks with ultrasonic sensing for autonomous mobile robot navigation....Pages 521-526
A High-Performance Camera Platform for Real-Time Active Vision....Pages 527-532
User Interfaces for Robot Mobility Aids....Pages 533-539
A Visual Interface for Human-Robot Interaction....Pages 540-547