Yuta S., Asama H., Thrun S., Prassler E., Tsubouchi T. (Eds.) Field and Service Robotics. Recent Advances in Research and Applications

Berlin: Springer-Verlag. – 2006. – 560 p. In the beginning of 1980's, the robot technology had started to be popular for the automation in many factories. Since then, the role of the robotics has spread wider and wider. The series of the International Conference on Field and Service Robotics started 1996 in Australia and have been held biannually i n different continents, to stimulate and make progress of the research on this important subject. The fourth FSR conference was held in Lake Yamanaka where is on the foot of Mt. Fuji in Japan, on 14-16 July 2003. For the scientific program of this conference, the program committee requested to authors to provide information of their research and their opinion such as: Exact targeted service and field, Realized basis (Theoretical/ Experimental/ Applied), Complexity of the working environment and achieving task, and estimated years until real use, for selecting the proper papers, when they submitted their papers. This book is the collection of the papers, which are presented at the conference and revised after these presentation and discussions. We believe that they are informative and useful to see the state of the art in this important and interesting subject.INVITED PAPERS
Service RT Systems
A Small Biped Entertainment Robot Creating Attractive Applications
Mobile Robots Facing the Real World
Breakthroughs in Human Technology Interaction
INDOOR NAVIGATION
Indoor Navigation for Mobile Robot by Using Environment-Embedded Local Information Management Device and Optical Pointer
Wall Following with Constrained Active Contours
Landmark-Based Nonholonomic Visual Homing
Recursive Probabilistic Velocity Obstacles for Reflective Navigation
ROUGH TERRAIN NAVIGATION
Learning Predictions of the Load-Bearing Surface for Autonomous Rough-Terrain Navigation in Vegetation
A Terrain-Aided Tracking Algorithm for Marine Systems
Experimental Results in Using Aerial LADAR Data for Mobile Robot Navigation
Autonomous Detection of Untraversability of the Pathon Rough Terrain for the Remote Controlled Mobile Robots
LOCALIZATION
Mobile Robot Navigation Based on DGPS and Odometry in Campus Environment
Vehicle Localization Using Inertial Sensors and GPS
An Experimental Study of Localization Using Wireless Ethernet
MALOC –Medial Axis Localization in Unstructured Dynamic Environments
MAPPINGAND TRACKING
Market-Based Multirobot Coordination Using Task Abstraction
Decentralised SLAM with Low-Band width Communication for Teams of Vehicles
Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Bayesian Programming for Multi-target Tracking: An Automotive Application
Optimal Search of a Lost Target in a Bayesian World
ROUGH TERRAIN LOCOMOTION
Terramechanics-Based Analysis and Traction Control of a Lunar/Planetary Rover
Topological Analysis of Robotic N-Wheeled Ground Vehicles
Development of a Control System of an Omni-directional Vehicle with a Step-Climbing Ability
Sensor-Based Walkingon Rough Terrain for Legged Robots
HELICOPTERS AND AIR VEHICLES
Experiment sin Learning Helicopter Control from a Pilot
Landing on a Moving Target Usingan Autonomous Helicopter
Scan Alignment and 3-D Surface Modeling with a Helicopter Platform
Real-time Navigation, Guidance, and Control of a UAV Using Low-Cost Sensors
A Compact Millimeter Wave Radar Sensor for Unmanned Air Vehicles
MOBILITY AND MANIPULATION
Motion Analysis of a Parallel Mobile Robot
Teleoperation System for Two Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept
Development of a Terrain Adaptive Stability Prediction for Mass Articulating Mobile Robots
ROBHAZ-DT2: Passive Double-Tracked Mobile Manipulator for Explosive Ordnance Disposal
HUMAN-ROBOT INTERACTION
Towards Safer Roads by Integration for Road Scene Monitoring and Vehicle Control
Performing Skilled Work with an Interactively Operated Service Robot
A Multi-purpose Eight-Legged Robot Developed for an Evaluation of a Neural Interface
Online Interactive Building of Presence
HEALTHCAREAND SERVICETASKS
Light Weight Autonomous Climbing Robot for Elderly and Disabled Persons' Services
Planning under Uncertainty for Reliable Health Care Robotics
Development of a Personal Service Robot with User-Friendly Interfaces
An Enhanced Robotic Library System for an Off-Site Shelving Facility
International Contest for Cleaning Robots: Fun Event or a First Step Towards Benchmarking Service Robots
MINING
Dragline Automation: Experimental Evaluation Through Productivity Trial
Shearer Guidance: A Major Advance in Long wall Mining
Development of an Autonomous Conveyor-Bolting Machine for the Underground Coal Mining Industry
A Case Study in Robotic Mapping of Abandoned Mines
Automatic 3D Underground Mine Mapping
RESCUE AND AGRICULTURAL APPLICATIONS
Development of Pneumatically Controlled Expandable Arm for Search in the Environment with Tight Access
Development of Mobile Robots for Search and Rescue Operation Systems
Distributed Search and Rescue with Robot and Sensor Teams
Spraying Robot for Grape Production
Path Planning for Complete Coverage with Agricultural Machines
Author Index