Algorithmic Foundations of Robotics X: Proceedings of the by Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez,

By Kris Hauser (auth.), Emilio Frazzoli, Tomas Lozano-Perez, Nicholas Roy, Daniela Rus (eds.)

Algorithms are a basic element of robot structures. robotic algorithms method inputs from sensors that offer noisy and partial info, construct geometric and actual versions of the realm, plan high-and low-level activities at diversified time horizons, and execute those activities on actuators with constrained precision. The layout and research of robotic algorithms elevate a special mixture of questions from many elds, together with regulate idea, computational geometry and topology, geometrical and actual modeling, reasoning lower than uncertainty, probabilistic algorithms, online game idea, and theoretical desktop science.

The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track assembly of major researchers within the eld of robotic algorithms. in view that its inception in 1994, WAFR has been held any other yr, and has supplied one of many most excellent venues for the book of a few of the eld's most vital and lasting contributions.

This books includes the complaints of the 10th WAFR, hung on June 13{15 2012 on the Massachusetts Institute of know-how. The 37 papers incorporated during this ebook disguise a large variety of subject matters, from primary theoretical matters in robotic movement making plans, regulate, and notion, to novel applications.

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Extra resources for Algorithmic Foundations of Robotics X: Proceedings of the Tenth Workshop on the Algorithmic Foundations of Robotics

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If e is linear and f is circular, g enters and exits at the (ne , h f ) and (ne ,t f ) criticalities. If both are circular, g enters and exits at the (te , h f ) and (he ,t f ) criticalities. At the (te ,t f ) criticality, tg switches from te ⊕ θ f to θ t f ⊕ e. At the (he , h f ) criticality, hg switches from θ h f ⊕ e to he ⊕ θ f . Fig. 5 shows edges e, f ∈ F that meet at v and g, h ∈ θ (−M) that meet at w. The (v, w) critical angle is θ = 0, sum vertex v ⊕ h exits, sum vertices v ⊕ g, w ⊕ e, and w ⊕ f enter, and sum edge f ⊕ g enters.

This is a problem, for example, if moving two obstacles provides the same reward, but only one of them opens a path to the goal. In general, tasks with sparse rewards tend to require either additional shaping rewards for the subtasks, or a solution strategy that includes top-down information [1]. We take the top-down approach by using the value of the target free-space region as a reward for the manipulation policy that clears the appropriate obstacle. This is equivalent to Dietterich’s solution for the model-free case, in which the completion functions (the right-most term of Eq.

20(5), 379–400 (2001) 10. : On the hardness of approximating minimization problems. J. of the ACM 41(5), 960–981 (1994) 11. : Proving path non-existence using sampling and alpha shapes. In: IEEE Int. Conf. Rob. Aut. (2012) 12. : An empirical study of phase transitions in binary constraint satisfaction problems. Artificial Intelligence 81(1-2), 81–109 (1996) The Minimum Constraint Removal Problem with Three Robotics Applications 17 13. : Complexity of the mover’s problem and generalizations. In: 20th Annual IEEE Symposium on Foundations of Computer Science, San Juan, Puerto Rico, pp.

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