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Algorithmic Foundations of Robotics XIV

Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics

  • Conference proceedings
  • © 2021

Overview

Editors:
  1. Steven M. LaValle

    1. Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

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  2. Ming Lin

    1. Brendan Iribe Center for Computer Science and Engineering, University of Maryland, College Park, USA

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  3. Timo Ojala

    1. Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

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  4. Dylan Shell

    1. Department of Computer Science and Engineering, Texas A&M University, College Station, USA

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  5. Jingjin Yu

    1. Department of Computer Science, Rutgers University, Piscataway, USA

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  • Highlights the latest research on robotic algorithms
  • Gathers the first part of the edited outcomes of the 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR), taking place at Oulu, Finland, on June 21–23, 2021
  • Written by leading experts in the field

Part of the book series: Springer Proceedings in Advanced Robotics (SPAR, volume 17)

Included in the following conference series:

Conference proceedings info: WAFR 2020.

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About this book

This proceedings book helps bring insights from this array of technical sub-topics together, as advanced robot algorithms draw on the combined expertise of many fields—including control theory, computational geometry and topology, geometrical and physical modeling, reasoning under uncertainty, probabilistic algorithms, game theory, and theoretical computer science. Intelligent robots and autonomous systems depend on algorithms that efficiently realize functionalities ranging from perception to decision making, from motion planning to control. The works collected in this SPAR book represent the state of the art in algorithmic robotics. They originate from papers accepted to the 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR), traditionally a biannual, single-track meeting of leading researchers in the field of robotics. WAFR has always served as a premiere venue for the publication of some of robotics’ most important, fundamental, and lasting algorithmic contributions, ensuring the rapid circulation of new ideas. Though an in-person meeting was planned for June 15–17, 2020, in Oulu, Finland, the event ended up being canceled owing to the infeasibility of international travel during the global COVID-19 crisis. 


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Table of contents (33 papers)

  1. Front Matter

    Pages i-xiii
    Download chapter PDF

  2. ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions

    • Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg
    Pages 1-17

  3. Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations

    • Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
    Pages 18-36

  4. Space-Aware Reconfiguration

    • Dan Halperin, Marc van Kreveld, Golan Miglioli-Levy, Micha Sharir
    Pages 37-53

  5. Evasive Navigation of an Autonomous Mobile Robot in Hostile Unknown Environments

    • Yaron Veksler, Elon D. Rimon
    Pages 54-72

  6. Neural Collision Clearance Estimator for Batched Motion Planning

    • J. Chase Kew, Brian Ichter, Maryam Bandari, Tsang-Wei Edward Lee, Aleksandra Faust
    Pages 73-89

  7. Cover Combinatorial Filters and Their Minimization Problem

    • Yulin Zhang, Dylan A. Shell
    Pages 90-106

  8. Approximation Algorithms for Multi-Robot Patrol-Scheduling with Min-Max Latency

    • Peyman Afshani, Mark de Berg, Kevin Buchin, Jie Gao, Maarten Löffler, Amir Nayyeri et al.
    Pages 107-123

  9. Locally-Connected Interrelated Network: A Forward Propagation Primitive

    • Nicholas Collins, Hanna Kurniawati
    Pages 124-142

  10. Optimized Synthesis of Snapping Fixtures

    • Tom Tsabar, Efi Fogel, Dan Halperin
    Pages 143-158

  11. Sampling-Based Motion Planning for Uncertain High-Dimensional Systems via Adaptive Control

    • Christos K. Verginis, Dimos V. Dimarogonas, Lydia E. Kavraki
    Pages 159-175

  12. Every Action-Based Sensor

    • Grace McFassel, Dylan A. Shell
    Pages 176-193

  13. Linear-Time Variational Integrators in Maximal Coordinates

    • Jan Brüdigam, Zachary Manchester
    Pages 194-209

  14. Information Requirements of Collision-Based Micromanipulation

    • Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta, Todd D. Murphey, Steven M. LaValle
    Pages 210-226

  15. Characterizing Marginalization and Incremental Operations on the Bayes Tree

    • Dehann Fourie, Antonio Terán Espinoza, Michael Kaess, John Leonard
    Pages 227-242

  16. Synchronized Multi-arm Rearrangement Guided by Mode Graphs with Capacity Constraints

    • Rahul Shome, Kostas E. Bekris
    Pages 243-260

  17. Hierarchical Multiobjective Shortest Path Problems

    • Konstantin Slutsky, Dmitry Yershov, Tichakorn Wongpiromsarn, Emilio Frazzoli
    Pages 261-276

  18. Planning to Chronicle

    • Hazhar Rahmani, Dylan A. Shell, Jason M. O’Kane
    Pages 277-293

  19. Deadlock Analysis and Resolution for Multi-robot Systems

    • Jaskaran Singh Grover, Changliu Liu, Katia Sycara
    Pages 294-312

  20. Imitation Learning as f-Divergence Minimization

    • Liyiming Ke, Sanjiban Choudhury, Matt Barnes, Wen Sun, Gilwoo Lee, Siddhartha Srinivasa
    Pages 313-329
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Other volumes

  1. Algorithmic Foundations of Robotics XIV

Editors and Affiliations

  • Center for Ubiquitous Computing, University of Oulu, Oulu, Finland

    Steven M. LaValle, Timo Ojala

  • Brendan Iribe Center for Computer Science and Engineering, University of Maryland, College Park, USA

    Ming Lin

  • Department of Computer Science and Engineering, Texas A&M University, College Station, USA

    Dylan Shell

  • Department of Computer Science, Rutgers University, Piscataway, USA

    Jingjin Yu

Bibliographic Information

  • Book Title: Algorithmic Foundations of Robotics XIV

  • Book Subtitle: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics

  • Editors: Steven M. LaValle, Ming Lin, Timo Ojala, Dylan Shell, Jingjin Yu

  • Series Title: Springer Proceedings in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-030-66723-8

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

  • Hardcover ISBN: 978-3-030-66722-1Published: 09 February 2021

  • Softcover ISBN: 978-3-030-66811-2Published: 10 February 2022

  • eBook ISBN: 978-3-030-66723-8Published: 08 February 2021

  • Series ISSN: 2511-1256

  • Series E-ISSN: 2511-1264

  • Edition Number: 1

  • Number of Pages: XIII, 568

  • Number of Illustrations: 36 b/w illustrations, 171 illustrations in colour

  • Topics: Control, Robotics, Mechatronics, Computational Intelligence, Robotics

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