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

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

Algorithms are a primary part of robot platforms. robotic algorithms method inputs from sensors that supply noisy and partial info, construct geometric and actual types of the area, plan high-and low-level activities at assorted 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 keep watch over conception, computational geometry and topology, geometrical and actual modeling, reasoning below uncertainty, probabilistic algorithms, online game conception, and theoretical laptop science.

The Workshop on Algorithmic Foundations of Robotics (WAFR) is a single-track assembly of best researchers within the eld of robotic algorithms. in view that its inception in 1994, WAFR has been held some other 12 months, and has supplied one of many most suitable venues for the booklet of a few of the eld's most crucial and lasting contributions.

This books comprises the complaints of the 10th WAFR, hung on June 13{15 2012 on the Massachusetts Institute of expertise. The 37 papers incorporated during this publication conceal a vast diversity of themes, from primary theoretical concerns in robotic movement making plans, keep watch over, and conception, 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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7). At a tangency, two vertices enter or exit the subdivision. At a hit, each incident edge gains or loses a vertex. A candidate tangency occurs when the lines or circles of two edges are tangent. It is a criticality when the point of tangency lies on both edges. Likewise for hits. The tangency equations for circular edges e and f with |re | > |r f | (Fig. 6b) are ||m f − me || = r with r = |re | ± |r f |. Let me = a + θ b, m f = c + θ d, u = c − a, and v = d − b. Let bi be the intersection points of the circle with center (0, 0) and radius r, and the circle with center u and radius ||v||.

Acknowledgments. This research was supported by NSF grant IIS-1017076. The authors thank Kaushik Subramanian and Jacob Steinhart for many insightful discussions. : Recent advances in hierarchical reinforcement learning. : Practical path planning among movable obstacles. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. : Pushpush and push-1 are np-hard in 2d. In: Proceedings of the 12th Canadian Conference on Computational Geometry, pp. : An Overview of MAXQ Hierarchical Reinforcement Learning.

The solutions are the same as for the tangency equations. A type 1 criticality that coincides with a circular edge hit is not counted as a type 2 criticality. There are three cases based on the signed radii of the incident edges. We omit the proof that these are the only cases up to symmetry. Let edges e, f ∈ F meet at v and g, h ∈ −M meet at w. The analysis uses a coordinate system in which nv is the y axis and the critical angle is 0. Case 1 is re < 0, r f , rg , rh > 0, rg + re > 0, rh + re < 0 (Fig.

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