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Hutter, Marco

Field and Service Robotics

Hutter, Marco - Field and Service Robotics, ebook

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Ebook, PDF with Adobe DRM
ISBN: 9783319673615
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Table of contents

Part I. Control

1. Controlling Ocean One
Gerald Brantner, Oussama Khatib

2. Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials
David Gonon, Dominic Jud, Péter Fankhauser, Marco Hutter

3. Towards Controlling Bucket Fill Factor in Robotic Excavation by Learning Admittance Control Setpoints
Heshan A. Fernando, Joshua A. Marshall, Håkan Almqvist, Johan Larsson

4. Trajectory Optimization for Dynamic Grasping in Space Using Adhesive Grippers
Roshena MacPherson, Benjamin Hockman, Andrew Bylard, Matthew A. Estrada, Mark R. Cutkosky, Marco Pavone

5. Generation of Turning Motion for Tracked Vehicles Using Reaction Force of Stairs’ Handrail
Yuto Ohashi, Shotaro Kojima, Kazunori Ohno, Yoshito Okada, Ryunosuke Hamada, Takahiro Suzuki, Satoshi Tadokoro

Part II. Computer Vision

6. Finding Better Wide Baseline Stereo Solutions Using Feature Quality
Stephen Nuske, Jay Patravali

7. High-Throughput Robotic Phenotyping of Energy Sorghum Crops
Srinivasan Vijayarangan, Paloma Sodhi, Prathamesh Kini, James Bourne, Simon Du, Hanqi Sun, Barnabas Poczos, Dimitrios Apostolopoulos, David Wettergreen

8. Improved Tau-Guidance and Vision-Aided Navigation for Robust Autonomous Landing of UAVs
Amedeo Rodi Vetrella, Inkyu Sa, Marija Popović, Raghav Khanna, Juan Nieto, Giancarmine Fasano, Domenico Accardo, Roland Siegwart

9. Fast and Power-Efficient Embedded Software Implementation of Digital Image Stabilization for Low-Cost Autonomous Boats
S. Aldegheri, D. D. Bloisi, J. J. Blum, N. Bombieri, A. Farinelli

10. Evaluation of Combined Time-Offset Estimation and Hand-Eye Calibration on Robotic Datasets
Fadri Furrer, Marius Fehr, Tonci Novkovic, Hannes Sommer, Igor Gilitschenski, Roland Siegwart

Part III. Inspection

11. Field Report: UAV-Based Volcano Observation System for Debris Flow Evacuation Alarm
Keiji Nagatani, Ryosuke Yajima, Seiga Kiribayashi, Tomoaki Izu, Hiromichi Kanai, Hiroyuki Kanasaki, Jun Minagawa, Yuji Moriyama

12. Cooperative UAVs as a Tool for Aerial Inspection of the Aging Infrastructure
Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk, Dariusz Kominiak, George Nikolakopoulos

13. Autonomous Aerial Inspection Using Visual-Inertial Robust Localization and Mapping
Lucas Teixeira, Ignacio Alzugaray, Margarita Chli

14. Sensing Water Properties at Precise Depths from the Air
John-Paul Ore, Carrick Detweiler

15. Autonomous and Safe Inspection of an Industrial Warehouse by a Multi-rotor MAV
Alexandre Eudes, Julien Marzat, Martial Sanfourche, Julien Moras, Sylvain Bertrand

Part IV. Machine Learning

16. Online Multi-modal Learning and Adaptive Informative Trajectory Planning for Autonomous Exploration
Akash Arora, P. Michael Furlong, Robert Fitch, Terry Fong, Salah Sukkarieh, Richard Elphic

17. Season-Invariant Semantic Segmentation with a Deep Multimodal Network
Dong-Ki Kim, Daniel Maturana, Masashi Uenoyama, Sebastian Scherer

18. StalkNet: A Deep Learning Pipeline for High-Throughput Measurement of Plant Stalk Count and Stalk Width
Harjatin Singh Baweja, Tanvir Parhar, Omeed Mirbod, Stephen Nuske

19. Learning Models for Predictive Adaptation in State Lattices
Michael E. Napoli, Harel Biggie, Thomas M. Howard

Part V. Mapping

20. Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain
Patrick McGarey, David Yoon, Tim Tang, François Pomerleau, Timothy D. Barfoot

21. Towards Automatic Robotic NDT Dense Mapping for Pipeline Integrity Inspection
Jaime Valls Miro, Dave Hunt, Nalika Ulapane, Michael Behrens

22. Real-Time Semantic Mapping for Autonomous Off-Road Navigation
Daniel Maturana, Po-Wei Chou, Masashi Uenoyama, Sebastian Scherer

23. Boundary Wire Mapping on Autonomous Lawn Mowers
Nils Einecke, Jörg Deigmöller, Keiji Muro, Mathias Franzius

24. A Submap Joining Based RGB-D SLAM Algorithm Using Planes as Features
Jun Wang, Jingwei Song, Liang Zhao, Shoudong Huang

25. Mapping on the Fly: Real-Time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles
Timo Hinzmann, Johannes L. Schönberger, Marc Pollefeys, Roland Siegwart

26. Aerial and Ground-Based Collaborative Mapping: An Experimental Study
Ji Zhang, Sanjiv Singh

Part VI. Navigation and Planning

27. I Can See for Miles and Miles: An Extended Field Test of Visual Teach and Repeat 2.0
Michael Paton, Kirk MacTavish, Laszlo-Peter Berczi, Sebastian Kai van Es, Timothy D. Barfoot

28. Dynamically Feasible Motion Planning for Micro Air Vehicles Using an Egocylinder
Anthony T. Fragoso, Cevahir Cigla, Roland Brockers, Larry H. Matthies

29. Informed Asymptotically Near-Optimal Planning for Field Robots with Dynamics
Zakary Littlefield, Kostas E. Bekris

30. Strategic Autonomy for Reducing Risk of Sun-Synchronous Lunar Polar Exploration
Nathan Otten, David Wettergreen, William Whittaker

31. Towards Visual Teach and Repeat for GPS-Denied Flight of a Fixed-Wing UAV
M. Warren, M. Paton, K. MacTavish, A. P. Schoellig, T. D. Barfoot

32. Local Path Optimizer for an Autonomous Truck in a Harbor Scenario
Jennifer David, Rafael Valencia, Roland Philippsen, Karl Iagnemma

Part VII. Systems and Tools

33. Field Experiments in Robotic Subsurface Science with Long Duration Autonomy
Srinivasan Vijayarangan, David Kohanbash, Greydon Foil, Kris Zacny, Nathalie Cabrol, David Wettergreen

34. Design and Development of Explosion-Proof Tracked Vehicle for Inspection of Offshore Oil Plant
Keiji Nagatani, Daisuke Endo, Atsushi Watanabe, Eiji Koyanagi

35. Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots
Hendrik Kolvenbach, Marco Hutter

36. Autonomous Mission with a Mobile Manipulator—A Solution to the MBZIRC
Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter

37. Towards a Generic Solution for Inspection of Industrial Sites
Marco Hutter, Remo Diethelm, Samuel Bachmann, Péter Fankhauser, Christian Gehring, Vassilios Tsounis, Andreas Lauber, Fabian Guenther, Marko Bjelonic, Linus Isler, Hendrik Kolvenbach, Konrad Meyer, Mark Hoepflinger

38. Foresight: Remote Sensing for Autonomous Vehicles Using a Small Unmanned Aerial Vehicle
Alex Wallar, Brandon Araki, Raphael Chang, Javier Alonso-Mora, Daniela Rus

39. Dynamic System Identification, and Control for a Cost-Effective and Open-Source Multi-rotor MAV
Inkyu Sa, Mina Kamel, Raghav Khanna, Marija Popović, Juan Nieto, Roland Siegwart

40. AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles
Shital Shah, Debadeepta Dey, Chris Lovett, Ashish Kapoor

41. Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine
Seiga Kiribayashi, Kaede Yakushigawa, Keiji Nagatani

42. Human-Robot Teaming: Concepts and Components for Design
Lanssie Mingyue Ma, Terrence Fong, Mark J. Micire, Yun Kyung Kim, Karen Feigh

43. An Analysis of Degraded Communication Channels in Human-Robot Teaming and Implications for Dynamic Autonomy Allocation
Michael Young, Mahdieh Nejati, Ahmetcan Erdogan, Brenna Argall

44. LEAF: Using Semantic Based Experience to Prevent Task Failures
Nathan Ramoly, Hela Sfar, Amel Bouzeghoub, Beatrice Finance

45. State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection
Timothy E. Lee, Nathan Michael

Keywords: Engineering, Robotics and Automation, Artificial Intelligence (incl. Robotics)

Editor
 
Publisher
Springer
Publication year
2018
Language
en
Edition
1
Series
Springer Proceedings in Advanced Robotics
Category
Technology, Energy, Traffic
Format
Ebook
eISBN (PDF)
9783319673615
Printed ISBN
978-3-319-67360-8

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