Sensor Based Intelligent Robots: International Workshop Dagstuhl Castle, Germany, October 15–20, 2000 Selected Revised Papers

Yakov Keselman, Sven Dickinson (auth.), Gregory D. Hager, Henrik Iskov Christensen, Horst Bunke, Rolf Klein (eds.)3540433996

Robotics is a highly interdisciplinary research topic, that requires integration of methods for mechanics, control engineering, signal processing, planning, gra- ics, human-computer interaction, real-time systems, applied mathematics, and software engineering to enable construction of fully operational systems. The diversity of topics needed to design, implement, and deploy such systems implies that it is almost impossible for individual teams to provide the needed critical mass for such endeavors. To facilitate interaction and progress on sensor-based intelligent robotics inter-disciplinary workshops are necessary through which – depthdiscussioncanbeusedforcrossdisseminationbetweendi?erentdisciplines. The Dagstuhl foundation has organized a number of workshops on Mod- ing and Integration of Sensor Based Intelligent Robot Systems. The Dagstuhl seminars take place over a full week in a beautiful setting in the Saarland in Germany. The setting provides an ideal environment for in-depth presentations and rich interaction between the participants. This volume contains papers presented during the fourth workshop held – tober 15–20, 2000. All papers were submitted by workshop attendees, and were reviewed by at least one reviewer. We wish to thank all of the reviewers for their invaluable help in making this a high-quality selection of papers. We gratefully acknowledge the support of the Schloss Dagstuhl Foundation and the sta? at Springer-Verlag. Without their support the production of this volume would not have been possible.

---

Table of contents :
Generic Model Abstraction from Examples….Pages 1-24
Tracking Multiple Moving Objects in Populated, Public Environments….Pages 25-38
Omnidirectional Vision for Appearance-Based Robot Localization….Pages 39-50
Vision for Interaction….Pages 51-73
Vision and Touch for Grasping….Pages 74-86
A New Technique for the Extraction and Tracking of Surfaces in Range Image Sequences….Pages 87-100
Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics….Pages 101-121
Partitioned Image-Based Visual Servo Control: Some New Results….Pages 122-140
Towards Robust Perception and Model Integration….Pages 141-158
Large Consistent Geometric Landmark Maps….Pages 159-176
Tactile Man-Robot Interaction for an Industrial Service Robot….Pages 177-194
Multiple-Robot Motion Planning = Parallel Processing + Geometry….Pages 195-215
Modelling, Control and Perception for an Autonomous Robotic Airship….Pages 216-244
On the Competitive Complexity of Navigation Tasks….Pages 245-258
Geometry and Part Feeding….Pages 259-281
CoolBOT: A Component-Oriented Programming Framework for Robotics….Pages 282-304
Particle Filtering with Evidential Reasoning….Pages 305-316
Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects….Pages 317-344
Autonomous Fast Learning in a Mobile Robot….Pages 345-356
Exploiting Context in Function-Based Reasoning….Pages 357-373