Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Implementation And Experimentation With Motion Planning Algorithms
Download Implementation And Experimentation With Motion Planning Algorithms full books in PDF, epub, and Kindle. Read online Implementation And Experimentation With Motion Planning Algorithms ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Implementation and Experimentation with Motion Planning Algorithms by :
Download or read book Implementation and Experimentation with Motion Planning Algorithms written by and published by . This book was released on 1990 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main charter of this contract is the implementation and experimentation with motion planning algorithms that emphasize the exact combinatorial and purely geometric approach. Motion planning is considered to be one of the major research areas in robotics, and is one of the main stages in the design and implementation of autonomous intelligent systems, which is an important long-range goal in robotics research. Motion planning is one of the basic capabilities that such a system must possess. In purely geometric terms, the simplest version of the problem can be stated as follows. The system is given complete information about the geometry of the environment in which it is to operate (and of its own structure), and has to process it so that, when commanded to move from its current position to some target position, it can determine whether it can do so without colliding with any of the obstacles around it, and if so plan (and execute) such a motion. These are many variants of the problem. A few of those are: motion planning in environments that are only partially known to the system, compliant motion planning that allows contact with obstacles, which might be unavoidable due to measurement errors, optimal motion planning, motion planning with kino-dynamic constraints, and motion planning amidst moving obstacles. Still, even the simplest, static, and purely geometric version stated above is far from being simple, and poses serious challenges in the design of efficient and robust algorithms.
Book Synopsis Recent Advances in Robot Path Planning Algorithms: a Review of Theory and Experiment by : Hadi Jahanshahi
Download or read book Recent Advances in Robot Path Planning Algorithms: a Review of Theory and Experiment written by Hadi Jahanshahi and published by . This book was released on 2020-03-23 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt: The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on vision sensor typically known as the best sensor within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot's performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.
Book Synopsis Implementation and Experimentation with a Motion Planning System by : Amir Livne
Download or read book Implementation and Experimentation with a Motion Planning System written by Amir Livne and published by . This book was released on 1991 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Planning Algorithms by : Steven M. LaValle
Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Book Synopsis Optimized-Motion Planning by : Cherif Ahrikencheikh
Download or read book Optimized-Motion Planning written by Cherif Ahrikencheikh and published by Wiley-Interscience. This book was released on 1994-10-14 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first handbook to the practical specifics of motion planning, Optimized-Motion Planning offers design engineers methods and insights for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. Beginning with a brief overview of the general class of problems examined within the book as well as available solution techniques, Part 1 familiarizes the reader with the conceptual threads that underlie each approach. This early discussion also considers the specific applications of each technique as well as its computational efficiency. Part 2 illustrates basic problem-solving methodology by considering the case of a point moving between stationary polygons in a plane. This section features algorithms for data organization and storage, the concepts of passage networks and feasibility charts, as well as the path optimization algorithm. Elaborating on the problematic model described in Part 2, Part 3 develops an algorithm for optimizing the motion of a point between stationary polyhedra in a 3-dimensional space. This algorithm is first applied to the case of nonpoint objects moving between obstacles that can be stationary or moving with known patterns. It's then used in connection with the extensively investigated problem of motion planning for multilink manipulators.
Book Synopsis Motion planning and feedback control techniques with applications to long tractor-trailer vehicles by : Oskar Ljungqvist
Download or read book Motion planning and feedback control techniques with applications to long tractor-trailer vehicles written by Oskar Ljungqvist and published by Linköping University Electronic Press. This book was released on 2020-04-20 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. At the same time, there has been a growing demand within the transportation sector to increase efficiency and to reduce the environmental impact related to transportation of people and goods. Therefore, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed environments, such as mines, harbors, loading and offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, tractor-trailer vehicles are frequently used for transportation. These vehicles are composed of several interconnected vehicle segments, and are therefore large, complex and unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control techniques for such systems. The contributions of this thesis are within the area of motion planning and feedback control for long tractor-trailer combinations operating at low-speeds in closed and unstructured environments. It includes development of motion planning and feedback control frameworks, structured design tools for guaranteeing closed-loop stability and experimental validation of the proposed solutions through simulations, lab and field experiments. Even though the primary application in this work is tractor-trailer vehicles, many of the proposed approaches can with some adjustments also be used for other systems, such as drones and ships. The developed sampling-based motion planning algorithms are based upon the probabilistic closed-loop rapidly exploring random tree (CL-RRT) algorithm and the deterministic lattice-based motion planning algorithm. It is also proposed to use numerical optimal control offline for precomputing libraries of optimized maneuvers as well as during online planning in the form of a warm-started optimization step. To follow the motion plan, several predictive path-following control approaches are proposed with different computational complexity and performance. Common for these approaches are that they use a path-following error model of the vehicle for future predictions and are tailored to operate in series with a motion planner that computes feasible paths. The design strategies for the path-following approaches include linear quadratic (LQ) control and several advanced model predictive control (MPC) techniques to account for physical and sensing limitations. To strengthen the practical value of the developed techniques, several of the proposed approaches have been implemented and successfully demonstrated in field experiments on a full-scale test platform. To estimate the vehicle states needed for control, a novel nonlinear observer is evaluated on the full-scale test vehicle. It is designed to only utilize information from sensors that are mounted on the tractor, making the system independent of any sensor mounted on the trailer. Under de senaste årtiondena har utvecklingen av sensor- och hårdvaruteknik gått i en snabb takt, samtidigt som nya metoder och algoritmer har introducerats. Samtidigt ställs det stora krav på transportsektorn att öka effektiviteten och minska miljöpåverkan vid transporter av både människor och varor. Som en följd av detta har många ledande fordonstillverkare och teknikföretag börjat satsat på att utveckla avancerade förarstödsystem och självkörande fordon. Även forskningen inom autonoma fordon har under de senaste årtiondena kraftig ökat då en rad tekniska problem återstår att lösas. Förarlösa fordon förväntas få sitt första stora genombrott i slutna miljöer, såsom gruvor, hamnar, lastnings- och lossningsplatser. I sådana områden är lagstiftningen mindre hård jämfört med stadsområden och omgivningen är mer kontrollerad och förutsägbar. Några av de förväntade positiva effekterna är ökad produktivitet och säkerhet, minskade utsläpp och möjligheten att avlasta människor från att utföra svåra eller farliga uppgifter. Inom dessa platser används ofta lastbilar med olika släpvagnskombinationer för att transportera material. En sådan fordonskombination är uppbyggd av flera ihopkopplade moduler och är således utmanande att backa då systemet är instabilt. Detta gör det svårt att utforma ramverk för att styra sådana system vid exempelvis autonom backning. Självkörande fordon är mycket komplexa system som består av en rad olika komponenter vilka är designade för att lösa separata delproblem. Två viktiga komponenter i ett självkörande fordon är dels rörelseplaneraren som har i uppgift att planera hur fordonet ska röra sig för att på ett säkert sätt nå ett överordnat mål, och dels den banföljande regulatorn vars uppgift är att se till att den planerade manövern faktiskt utförs i praktiken trots störningar och modellfel. I denna avhandling presenteras flera olika algoritmer för att planera och utföra komplexa manövrar för lastbilar med olika typer av släpvagnskombinationer. De presenterade algoritmerna är avsedda att användas som avancerade förarstödsystem eller som komponenter i ett helt autonomt system. Även om den primära applikationen i denna avhandling är lastbilar med släp, kan många av de förslagna algoritmerna även användas för en rad andra system, så som drönare och båtar. Experimentell validering är viktigt för att motivera att en föreslagen algoritm är användbar i praktiken. I denna avhandling har flera av de föreslagna planerings- och reglerstrategierna implementerats på en småskalig testplattform och utvärderats i en kontrollerad labbmiljö. Utöver detta har även flera av de föreslagna ramverken implementerats och utvärderats i fältexperiment på en fullskalig test-plattform som har utvecklats i samarbete med Scania CV. Här utvärderas även en ny metod för att skatta släpvagnens beteende genom att endast utnyttja information från sensorer monterade på lastbilen, vilket gör det föreslagna ramverket oberoende av sensorer monterade på släpvagnen.
Book Synopsis Advanced Path Planning for Mobile Entities by : Rastislav Róka
Download or read book Advanced Path Planning for Mobile Entities written by Rastislav Róka and published by BoD – Books on Demand. This book was released on 2018-09-26 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book Advanced Path Planning for Mobile Entities provides a platform for practicing researchers, academics, PhD students, and other scientists to design, analyze, evaluate, process, and implement diversiform issues of path planning, including algorithms for multipath and mobile planning and path planning for mobile robots. The nine chapters of the book demonstrate capabilities of advanced path planning for mobile entities to solve scientific and engineering problems with varied degree of complexity.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic by : Mahmut Dirik
Download or read book Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic written by Mahmut Dirik and published by Springer Nature. This book was released on 2021-03-01 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.
Book Synopsis Study and Implementation of Potential Field Algorithms for Autonomous Mobile Robot Navigation by : Bert Bloemen
Download or read book Study and Implementation of Potential Field Algorithms for Autonomous Mobile Robot Navigation written by Bert Bloemen and published by . This book was released on 2005 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT This thesis describes an implementation of different robot motion planning algorithms, based on the potential field method, in a software layer that can be used with the Nomad robot. This is an experimental robot, designed for path planning research. The first three chapters cover the theoretical background of robot motion planning using the potential field method. Different algorithms will be explained with their different strengths and weaknesses. Chapter four will explain how these theoretical concepts have been implemented in a software layer. Actually, this chapter allows the reader to understand how the software is structured and designed using UML schemes. There is no programming skill required to understand this chapter and there is no direct link with the C programming language used, because an implementation should be possible in almost any language. Chapter five will describe a few test cases, where different algorithms behave differently in given situations. Their strengths and weaknesses are confirmed to be true. Chapter six will describe the implementation of the previously mentioned software layer into a real robot navigation system. Problems like sensor reading, obstacle detection and robot steering will be explained. Finally in the last chapter, again, tests are conducted using the different path planning algorithms, this time linked to a simulator robot using sensors, steering and collision detection.
Book Synopsis Motion Planning in Dynamic Environments by : Kikuo Fujimura
Download or read book Motion Planning in Dynamic Environments written by Kikuo Fujimura and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer Science Workbench is a monograph series which will provide you with an in-depth working knowledge of current developments in computer technology. Every volume in this series will deal with a topic of importance in computer science and elaborate on how you yourself can build systems related to the main theme. You will be able to develop a variety of systems, including computer software tools, computer graphics, computer animation, database management systems, and computer-aided design and manufacturing systems. Computer Science Workbench represents an important new contribution in the field of practical computer technology. TOSIYASU L. KUNII To my parents Kenjiro and Nori Fujimura Preface Motion planning is an area in robotics that has received much attention recently. Much of the past research focuses on static environments - various methods have been developed and their characteristics have been well investigated. Although it is essential for autonomous intelligent robots to be able to navigate within dynamic worlds, the problem of motion planning in dynamic domains is relatively little understood compared with static problems.
Book Synopsis The Complexity of Robot Motion Planning by : John Canny
Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.
Book Synopsis Experimental Testbeds for Real-time Motion Planning by : Jeong Hwan Jeon (S. M.)
Download or read book Experimental Testbeds for Real-time Motion Planning written by Jeong Hwan Jeon (S. M.) and published by . This book was released on 2009 with total page 107 pages. Available in PDF, EPUB and Kindle. Book excerpt: (cont.) Additionally, a motion planning problem for a robotic vehicle whose dynamics depends on unknown parameters is introduced. Typically, the motion planning problems in robotics assume perfect knowledge of the robots' dynamics, and both planner and controller are responsible only for their own parts in hierarchical sense of the framework. A different approach is proposed here, in which the planner takes explicitly into account the uncertainties about the model parameters, and generates completely safe plans for the whole uncertain parameter range. As the vehicle executes the generated plan, the parameter uncertainty is decreased based on the observed behavior, and it gradually allows more efficient planning with smaller uncertainties.
Author :Kristoffer Bergman Publisher :Linköping University Electronic Press ISBN 13 :9176850579 Total Pages :91 pages Book Rating :4.1/5 (768 download)
Book Synopsis On Motion Planning Using Numerical Optimal Control by : Kristoffer Bergman
Download or read book On Motion Planning Using Numerical Optimal Control written by Kristoffer Bergman and published by Linköping University Electronic Press. This book was released on 2019-05-28 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combining ideas from automatic control, numerical optimization and robotics. First, a systematic approach for computing local solutions to motion planning problems in challenging environments is presented. The solutions are computed by combining homotopy methods and numerical optimal control techniques. The general principle is to define a homotopy that transforms, or preferably relaxes, the original problem to an easily solved problem. The approach is demonstrated in motion planning problems in 2D and 3D environments, where the presented method outperforms both a state-of-the-art numerical optimal control method based on standard initialization strategies and a state-of-the-art optimizing sampling-based planner based on random sampling. Second, a framework for automatically generating motion primitives for lattice-based motion planners is proposed. Given a family of systems, the user only needs to specify which principle types of motions that are relevant for the considered system family. Based on the selected principle motions and a selected system instance, the algorithm not only automatically optimizes the motions connecting pre-defined boundary conditions, but also simultaneously optimizes the terminal state constraints as well. In addition to handling static a priori known system parameters such as platform dimensions, the framework also allows for fast automatic re-optimization of motion primitives if the system parameters change while the system is in use. Furthermore, the proposed framework is extended to also allow for an optimization of discretization parameters, that are are used by the lattice-based motion planner to define a state-space discretization. This enables an optimized selection of these parameters for a specific system instance. Finally, a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems is presented. The main idea is to combine the strengths of sampling-based path planners and numerical optimal control. The lattice-based path planner is applied to the problem in a first step using a discretized search space, where system dynamics and objective function are chosen to coincide with those used in a second numerical optimal control step. This novel tight combination of a sampling-based path planner and numerical optimal control makes, in a structured way, benefit of the former method’s ability to solve combinatorial parts of the problem and the latter method’s ability to obtain locally optimal solutions not constrained to a discretized search space. The proposed approach is shown in several practically relevant path planning problems to provide improvements in terms of computation time, numerical reliability, and objective function value.
Book Synopsis New Heuristic Algorithms for Efficient Hierarchical Path Planning by : David Zhu
Download or read book New Heuristic Algorithms for Efficient Hierarchical Path Planning written by David Zhu and published by . This book was released on 1989 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the ultimate goals of robotics research is to create autonomous robots. Progress toward this goal requires advances in many domains, including automatic motion planning. The basic problem in motion planning is to construct a collision-free path for a moving object among fixed obstacles. Several approaches have been proposed, including cell decomposition, retraction, and potential field. Nevertheless, most existing planners still lack efficiency, or reliability, or both. In this paper, we consider one of the most popular approaches to path planning: hierarchical approximate cell decomposition. We propose a set of new algorithms for constructing more efficient and reliable path planners based on this general approach. These algorithms concern the hierarchical decomposition of the robot's configuration space into rectangloid cells, and the search of the connectivity graphs built at each level of decomposition. We have implemented these algorithms in a path planner and experimented with this planner on various examples. Some are described in the paper. These experiments show that our planner is significantly faster than previous planners based on the same general approach. (KR).
Book Synopsis The Local Motion Planning for an Autonomous Mobile Robot by : Seok Jun Yun
Download or read book The Local Motion Planning for an Autonomous Mobile Robot written by Seok Jun Yun and published by . This book was released on 1995 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major problem addressed by this research is how to develop a motion control algorithm for local motion planning of an autonomous mobile robot. The approach taken was to clearly define the robot's motion descriptions and to design a high-level, machine independent robot control language called MML (Model-based Mobile robot Language). The results are that the robot can implement smooth rotation, symmetric, and initial motion tracking on an given environment. Based on the motion control algorithm developed in this thesis, the robot with rigid body can be applicable in both local and global motion planning. The experimental results were successful. The algorithms were implemented first on a simulator, then on the autonomous mobile robot Yamabico- Ji. Given an initial and final configuration, the vehicle demonstrated the capability to safely achieve its goal.
Book Synopsis Experimental Robotics by : M. Ani Hsieh
Download or read book Experimental Robotics written by M. Ani Hsieh and published by Springer. This book was released on 2015-11-21 with total page 913 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-ce ntered robotics.
