By Luis Mejias, Peter Corke, Jonathan Roberts

ISBN-10: 3319074873

ISBN-13: 9783319074870

ISBN-10: 3319074881

ISBN-13: 9783319074887

FSR, the overseas convention on box and repair Robotics, is a robotics Symposium which has verified during the last ten years the most recent learn and sensible effects in the direction of using box and repair robotics in the neighborhood with specific concentrate on confirmed expertise. the 1st assembly used to be held in Canberra, Australia, in 1997. due to the fact then the assembly has been held each years within the trend Asia, the US, Europe.

Field robots are non-factory robots, mostly cellular, that function in complicated and dynamic environments; at the flooring (of earth or planets), less than the floor, underwater, within the air or in house. carrier robots are those who paintings heavily with people to aid them with their lives. This publication current the result of the 9th variation of box and repair Robotics, FSR13, held in Brisbane, Australia on 9th-11th December 2013. The convention supplied a discussion board for researchers, execs and robotic manufactures to interchange updated technical wisdom and event. This ebook deals a set of a extensive diversity of subject matters together with: Underwater Robots and structures, Unmanned Aerial automobiles applied sciences and purposes, Agriculture, house, seek and Rescue and household Robotics, robot imaginative and prescient, Mapping and Recognition.

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IEEE Trans. Pattern Anal. Machine Intell. 14(2), 239–256 (1996) 5. : Globally consistent 3D mapping with scan matching. J. of Robotics and Autonomous Systems 56(2), 130–142 (2008) 30 M. VanMiddlesworth et al. 6. : A volumetric method for building complex models from range images. In: SIGGRAPH, pp. 303–312 (1996) 7. : Square Root SAM: Simultaneous localization and mapping via square root information smoothing. Intl. J. of Robotics Research 25(12), 1181–1203 (2006) 8. : Sampling-based coverage path planning for inspection of complex structures.

Mejias, P. Corke, and J. 1007/978-3-319-07488-7_3, c Springer International Publishing Switzerland 2015 33 34 B. Stenning et al. Fig. 1 The vScout prototype operating in steep, rough terrain in the Mars Emulation Terrain at the Canadian Space Agency in St. Hubert, Quebec, Canada, June 2013. be/z5ud7k9ozvQ Fig. 2 Steep terrain on Mars. Left: gullies on the wall of Mariner Crater, image: NASA/JPL/University of Arizona. Right: perspective view of Echus Chasma, credits: ESA/DLR/ FU Berlin (G. Neukum) Towards Autonomous Mobile Robots for the Exploration of Steep Terrain 35 Fig.

This will work well in fairly smooth steep areas but in rougher terrain it may even further complicate and limit the mobility. The TRESSA system stores the tether at the top of the steep terrain. While this approach does reduce the weight of the vehicle on the cliff, it will also increase the wear on the tether and eventually limit the range of the tethered vehicle (once the tether drag along the ground reaches the limit of what the vehicle can pull). An alternative is the have the tether stowed on and deployed from the descent vehicle (as done by Dante II [2] and Axel [11]).

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Field and Service Robotics: Results of the 9th International Conference by Luis Mejias, Peter Corke, Jonathan Roberts


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