Field and Service Robotics

1. Front Matter

   Pages I-XI

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2. Mobile Robots and Smart Cars

   • Chuck Thorpe

   Pages 1-5

3. Mobile Manipulators: Expanding the Frontiers of Robot Applications

   • Oussama Khatib

   Pages 6-11

4. Robot Navigation Inspired by Principles of Insect Vision

   • M. V. Srinivasan, J. S. Chahl, K. Weber, S. Venkatesh, S. W. Zhang, M. G. Nagle

   Pages 12-16

5. Behaviour-based Robots for Dangerous and Difficult Environments

   • Rodney A. Brooks

   Pages 17-19

6. Towards Useful Autonomous Robotic Systems for Field and Service Applications

   • Shin’ichi Yuta

   Pages 20-23

7. Intelligent Robotics — Where are we at and where are we going?

   • Ray Jarvis

   Pages 24-31

8. Behaviour programmable machines for field construction operations

   • Jonathan O’Brien

   Pages 31-39

9. Map Building and Terrain-Aided Localisation in an Underground Mine

   • Gamini Dissanayake, Martial Hebert, Anthony Stentz, Hugh Durrant-Whyte

   Pages 40-45

10. 3D Perception for Mining Robotics

    • Peter Corke, Jonathan Roberts, Graeme Winstanley

    Pages 46-52

11. The Numbat: A Remotely Controlled Mine Emergency Response Vehicle

    • Jonathon C. Ralston, David W. Hainsworth

    Pages 53-59

12. Motion Planning and Sensor-Guided Manœuvre Generation for an Autonomous Vehicle

    • C. Laugier, Ph. Garnier, Th. Fraichard, I. Paromtchik, A. Scheuer

    Pages 60-67

13. Fault Detection in the Frequency Domain: Designing Reliable Navigation Systems

    • S. Scheding, E. Nebot, H. Durrant-Whyte

    Pages 68-73

14. Lessons from the Development and Deployment of Dante II

    • John E. Bares, David S. Wettergreen

    Pages 74-81

15. Operating Nomad during the Atacama Desert Trek

    • David Wettergreen, Maria Bualat, Daniel Christian, Kurt Schwehr, Hans Thomas, Deanne Tucker et al.

    Pages 82-89

16. Some Details of the Development of Mobile Robot Platforms

    • V. Gromov, M. Malenkov, S. Fedoseev, A. Kemurdjian, A. Bogatchev, V. Koutcherenko et al.

    Pages 90-95

17. Field Experiments with the Ames Marsokhod Rover

    • Daniel Christian, David Wettergreen, Maria Bualat, Kurt Schwehr, Deanne Tucker, Eric Zbinden

    Pages 96-103

18. A Case Study in Machine Intelligence: Adaptive Autonomous Space Rovers

    • Raja Chatila, Simon Lacroix

    Pages 104-111

19. Navigation Data Acquisition with an Experimental Test-Bed of Planetary Exploration Rover

    • Tomoko Shiwa, Kazuya Yoshida

    Pages 112-117

20. Town Robot

    • Hiroshi Ishiguro, Katsumi Kimoto

    Pages 118-123

Joe Engelberger, the pioneer of the robotics industry, wrote in his 1989 book Robotics in Service that the inspiration to write his book came as a reaction to an industry-sponsored forecast study of robot applications, which predicted that in 1995 applications of robotics outside factories - the traditional domain of industrial robots - would amount to less than 1% of total sales. Engelberger believed that this forecast was very wrong, and instead predicted that the non-industrial class of robot applications would become the largest class. Engelbergers prediction has yet to come to pass. However, he did correctly foresee the growth in non-traditional applications of robots. Robots are now beginning to march from the factories and into field and service applications. This book presents a selection of papers from the first major international conference dedicated to field and service applications of robotics. This selection includes papers from the leading research laboratories in the world together with papers from companies that are building and selling new and innovative robotic technology. It describes interesting aspects of robots in the field ranging from mining, agriculture, construction, cargo handling, subsea operations, removal of landmines, to terrestrial exploration. It also covers a diverse range of service applications, such as cleaning, propagating plants and aiding the elderly and handicapped, and gives considerable attention to the technology required to realise robust, reliable and safe robots.

• industrial robot
• robot
• robotics
• service robot
• service robotics
• technology
• Engineering Economics
• complexity

• Department of Systems Engineering, Research School of Information Sciences and Engineering, Australian National University, Canberra, Australia

  Alexander Zelinsky

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