Field and Service Robotics: Results of the 6th International Conference

Front Matter....Pages -
Front Matter....Pages 1-1
Outdoor Radar Mapping Using Measurement Likelihood Estimation....Pages 3-12
Recovering the Shape of Objects in 3D Point Clouds with Partial Occlusions....Pages 13-22
Update Policy of Dense Maps: Efficient Algorithms and Sparse Representation....Pages 23-33
Assessing Map Quality Using Conditional Random Fields....Pages 35-48
Front Matter....Pages 49-49
Robust Vision-Based Underwater Target Identification and Homing Using Self-Similar Landmarks....Pages 51-60
Vision-Based Handling Tasks for an Autonomous Outdoor Forklift....Pages 61-70
Robust Feature Extraction and Matching for Omnidirectional Images....Pages 71-81
Dynamic Obstacle Detection Based on Probabilistic Moving Feature Recognition....Pages 83-91
Mobile Robot Geometry Initialization from Single Camera....Pages 93-102
Front Matter....Pages 103-103
A Feature Based Navigation System for an Autonomous Underwater Robot....Pages 105-114
Experiments in Navigation and Mapping with a Hovering AUV....Pages 115-124
Mobile Robot Sensing for Environmental Applications....Pages 125-135
Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles....Pages 137-145
A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning....Pages 147-156
Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy....Pages 157-166
Front Matter....Pages 167-167
Autonomous Robotic Inspection for Lunar Surface Operations....Pages 169-178
Roving Faster Farther Cheaper....Pages 179-188
Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects....Pages 189-198
Front Matter....Pages 199-199
Robot Position Estimation on a RFID-Tagged Smart Floor....Pages 201-211
Monte Carlo Localization in Outdoor Terrains Using Multi-Level Surface Maps....Pages 213-222
Front Matter....Pages 199-199
Estimating Vehicle Position Using Few Range Measurements to a Known Curved Surface....Pages 223-232
Sensor Registration for Robotic Applications....Pages 233-242
Front Matter....Pages 243-243
Reactive Collision Avoidance for Unmanned Aerial Vehicles Using Doppler Radar....Pages 245-254
Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle....Pages 255-264
Pedestrian Shape Extraction by Means of Active Contours....Pages 265-274
Front Matter....Pages 275-275
The Small Outdoor Rover MERLIN and Its Assistance System for Tele-operations....Pages 277-286
Visually-Guided Robot Navigation: From Artificial to Natural Landmarks....Pages 287-296
An Advanced Teleoperation Testbed....Pages 297-304
Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links....Pages 305-314
Front Matter....Pages 315-315
SIFT Based Graphical SLAM on a Packbot....Pages 317-328
Look-Ahead Proposals for Robust Grid-Based SLAM....Pages 329-338
Tradeoffs in SLAM with Sparse Information Filters....Pages 339-348
Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation....Pages 349-357
A FastSLAM Algorithm Based on the Unscented Filtering with Adaptive Selective Resampling....Pages 359-368
Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters....Pages 369-378
Front Matter....Pages 379-379
Modelling Smooth Paths Using Gaussian Processes....Pages 381-390
Data-Driven Identification of Group Dynamics for Motion Prediction and Control....Pages 391-400
Unsupervised Detection of Artificial Objects in Outdoor Environments....Pages 401-410
Online Learning of Multiple Perceptual Models for Navigation in Unknown Terrain....Pages 411-420
Front Matter....Pages 421-421
Implementation of Formation Transition System Using Synchronization in a Mobile Robot Group....Pages 423-432
Front Matter....Pages 421-421
Coordinated Search in Cluttered Environments Using Range from Multiple Robots....Pages 433-442
A Plan Manager for Multi-robot Systems....Pages 443-452
Development of a Networked Robotic System for Disaster Mitigation....Pages 453-462
Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors....Pages 463-471
Front Matter....Pages 473-473
Experiments in Autonomous Reversing of a Tractor-Trailer System....Pages 475-484
ATRS - A Technology-Based Solution to Automobility for Wheelchair Users....Pages 485-494
Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance....Pages 495-504
Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich....Pages 505-512
Automated Steam Turbine Straddle Root Disc Head Inspection....Pages 513-520
Design and Field Testing of an Autonomous Underground Tramming System....Pages 521-530
Autonomous Fruit Picking Machine: A Robotic Apple Harvester....Pages 531-539
Standing Assistance System for Rehabilitation Walker....Pages 541-550
Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles....Pages 551-561
Picking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator....Pages 563-571
Front Matter....Pages 573-573
An Architecture for Automated Driving in Urban Environments....Pages 575-584
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments....Pages 585-593
Back Matter....Pages -