Sensor Based Intelligent Robots

1. Front Matter

   Pages I-VIII

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2. Sensing

   1. Generic Model Abstraction from Examples

      • Yakov Keselman, Sven Dickinson

      Pages 1-24

   2. Tracking Multiple Moving Objects in Populated, Public Environments

      • Boris Kluge

      Pages 25-38

   3. Omnidirectional Vision for Appearance-Based Robot Localization

      • B. J. A. Kröse, N. Vlassis, R. Bunschoten

      Pages 39-50

   4. Vision for Interaction

      • H. I. Christensen, D. Kragic, F. Sandberg

      Pages 51-73

   5. Vision and Touch for Grasping

      • Rolf P. Würtz

      Pages 74-86

   6. A New Technique for the Extraction and Tracking of Surfaces in Range Image Sequences

      • X. Jiang, S. Hofer, T. Stahs, I. Ahrns, H. Bunke

      Pages 87-100

   7. Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics

      • Markus Vincze, Minu Ayromlou, Stefan Chroust, Michael Zillich, Wolfgang Ponweiser, Dietmar Legenstein

      Pages 101-121

   8. Partitioned Image-Based Visual Servo Control: Some New Results

      • Peter Corke, Seth Hutchinson, Nicholas R. Gans

      Pages 122-140

   9. Towards Robust Perception and Model Integration

      • Bernt Schiele, Martin Spengler, Hannes Kruppa

      Pages 141-158

3. Robotics

   1. Large Consistent Geometric Landmark Maps

      • Wolfgang Rencken, Wendelin Feiten, Martin Soika

      Pages 159-176

   2. Tactile Man-Robot Interaction for an Industrial Service Robot

      • Steen Kristensen, Mathias Neumann, Sven Horstmann, Frieder Lohnert, Andreas Stopp

      Pages 177-194

   3. Multiple-Robot Motion Planning = Parallel Processing + Geometry

      • Susan Hert, Brad Richards

      Pages 195-215

   4. Modelling, Control and Perception for an Autonomous Robotic Airship

      • Alberto Elfes, Samuel S. Bueno, Josué J. G. Ramos, Ely C. de Paiva, Marcel Bergerman, José R. H. Carvalho et al.

      Pages 216-244

   5. On the Competitive Complexity of Navigation Tasks

      • Christian Icking, Thomas Kamphans, Rolf Klein, Elmar Langetepe

      Pages 245-258

   6. Geometry and Part Feeding

      • A. Frank van der Stappen, Robert-Paul Berretty, Ken Goldberg, Mark H. Overmars

      Pages 259-281

   7. CoolBOT: A Component-Oriented Programming Framework for Robotics

      • Jorge Cabrera-Gámez, Antonio Carlos Domínguez-Brito, Daniel Hernández-Sosa

      Pages 282-304

4. Intelligence

   1. Particle Filtering with Evidential Reasoning

      • Christopher K. Eveland

      Pages 305-316

   2. Structure and Process: Learning of Visual Models and Construction Plans for Complex Objects

      • G. Sagerer, C. Bauckhage, E. Braun, J. Fritsch, F. Kummert, F. Lömker et al.

      Pages 317-344

   3. Autonomous Fast Learning in a Mobile Robot

      • Wolfgang Maass, Gerald Steinbauer, Roland Koholka

      Pages 345-356

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.

• 3D
• AI Planning
• Algorithmic Learning
• Computer Vision
• Control Engineering
• Human-Computer Interaction
• Image Sequences
• Learning Algorithms
• Machine Perception
• Motion Planning
• Navigation
• intelligence
• mobile robot
• robotics
• sensing

• Department of Computer Science, Johns Hopkins University, Baltimore

  Gregory D. Hager

• Center for Autonomous Systems, CVAP, Royal Institute of Technology, Sweden

  Henrik Iskov Christensen

• Department of Computer Science, University of Bern, German

  Horst Bunke

• Institute for Computer Science I, University of Bonn, USA

  Rolf Klein

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