Algorithmic Foundations of Robotics VI by Bruce Randall Donald (auth.), Michael Erdmann, Mark

By Bruce Randall Donald (auth.), Michael Erdmann, Mark Overmars, David Hsu, Frank van der Stappen (eds.)

Robot algorithms are abstractions of computational methods that keep watch over or cause approximately movement and belief within the actual international. simply because activities within the actual global are topic to actual legislation and geometric constraints, the layout and research of robotic algorithms increases a special blend of questions on top of things conception, computational and differential geometry, and laptop technological know-how. Algorithms function a unifying topic within the multi-disciplinary box of robotics.

This quantity includes chosen contributions to the 6th Workshop at the Algorithmic Foundations of Robotics. it is a hugely aggressive assembly of specialists within the box of algorithmic matters concerning robotics and automation.

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To examine the effect of surface Gaussian curvature K on the geodesic curvature κg of the offset curves, we apply the Gauss-Bonnet theorem to the region B bounded between the start curve, Cst , and its offset curve, Cof , (see Fig. 3(a)) and arrive at    κg . (1) K+ κg = Cof B Cst Equation 1 tells us that the more the surface bounded between the offset curve and the geodesic start curve bends, the more the geodesic curvature of the offset curve increases. On a surface where the sign of the Gaussian curvature stays the same, the further away we place the offset curve from the start curve, the higher the geodesic curvature of the offset curve is.

For Valid Index Width Range Future Passes Candidate Pass Profile for Optimization Current Pass Offset Direction Indexing Curve Known Passes Fig. 6. Index width optimization on extruded sheets: the paint deposition uniformity is calculated along the indexing curve bounded between the previous pass and the candidate pass. Uniform Coverage of Simple Surfaces 37 a given collection W of index widths between all passes, we evaluate the normalized standard deviation, u(W), of the paint deposition on the segment of the indexing curve bounded between pass C−1 and the candidate pass C1 .

Fig. 7. Dribbling with collision avoidance requires 6 inputs: the vector to the ball, the goal, and to the nearest obstacle, and 2 outputs: the velocities of the wheels For a real life robot soccer game, fast reaction is required, meaning that time steps (the rate at which the decisions are taken) should be kept as small as possible. Ideally, a continuous decision making is desirable. Unfortunately reinforcement learning algorithms do not support continuous time. In a robot soccer game, robots move at rates of about 1 m/s, so when using a 1s sampling time, a decision to stop just in front of an obstacle can come too late, the robot has smashed itself into its opponent.

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