Algorithmic Foundation of Robotics VIII: Selected by Eric Meisner, Wei Yang, Volkan Isler (auth.), Gregory S.

By Eric Meisner, Wei Yang, Volkan Isler (auth.), Gregory S. Chirikjian, Howie Choset, Marco Morales, Todd Murphey (eds.)

This quantity is the end result of the 8th version of the biennial Workshop on Algorithmic Foundations of Robotics (WAFR). Edited by way of G.S. Chirikjian, H. Choset, M. Morales and T. Murphey, the publication bargains a set of a variety of themes in complex robotics, together with networked robots, allotted platforms, manipulation, making plans lower than uncertainty, minimalism, geometric sensing, geometric computation, stochastic making plans tools, and clinical applications.

The contents of the forty-two contributions characterize a cross-section of the present kingdom of study from one specific point: algorithms, and the way they're encouraged by means of classical disciplines, akin to discrete and computational geometry, differential geometry, mechanics, optimization, operations study, laptop technological know-how, likelihood and records, and knowledge concept. Validation of algorithms, layout thoughts, or innovations is the typical thread working via this centred assortment. wealthy by way of issues and authoritative individuals, WAFR culminates with this specified reference at the present advancements and new instructions within the box of algorithmic foundations.

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Additional resources for Algorithmic Foundation of Robotics VIII: Selected Contributions of the Eight International Workshop on the Algorithmic Foundations of Robotics

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The details of this construction are somewhat messy because it requires ensuring that the additional sensors have coordinates which can be expressed compactly. 4 Aim Planning The general aim planning problem involves aiming auxiliary sensors to query the status of portions of the visual hull, reducing the gap between the upper and lower bounds. Since it may not be possible to cover the entire visual hull at once, multiple phases of sensor aiming could be required before all possible information has been extracted from a scene, where a phase specifies a single aim for each overhead sensor.

Though originally developed for this purpose, visual hulls have been shown to be useful for counting the number of distinct objects detected by a sensor network [10]. The original concept was developed by Laurentini [5], who designed algorithms for constructing the visual hull in both two and three dimensions. In this paper, we compute a planar projection of the visual hull; this projection results in a number of polygons lying in the plane. Yang, et al, [10] use these polygons to give lower and upper bounds on the number of objects which create a visual hull, and rely on the objects moving to reduce the gap in bounds.

The justification for this natural “Split-and-Cover” strategy is that since the nodes are scattered uniformly in the environment, each split should divide the load equally between discovered robots, therefore balancing (and intuitively minimizing) the network formation time. It turns out that Split-and-Cover is not an effective strategy for large environments for the following reason: suppose that when the split happens, one of the partitions has a very small number of robots. Even though this event has a small probability for a single split, as the number of robots (and hence the number of splits) increases, it becomes probable.

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