Springer Tracts in Advanced Robotics Volume 62 Editors:BrunoSiciliano·OussamaKhatib·FransGroen Andrew Howard, Karl Iagnemma, and Alonzo Kelly (Eds.) Field and Service Robotics Results of the 7th International Conference ABC ProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitàdiNapoliFedericoII, ViaClaudio21,80125Napoli,Italy,E-mail:[email protected] ProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience, StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:[email protected] ProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403, 1098SJAmsterdam,TheNetherlands,E-mail:[email protected] Editors AndrewHoward AlonzoKelly CalTechJetPropulsionLaboratory NationalRoboticsEngineeringCenter MailStop198-235 RoboticsInstitute 4800OakGroveDrive CarnegieMellonUniversity Pasadena,CA91109 10FortiethStreet USA Pittsburgh,PA15201 E-mail:[email protected] USA E-mail:[email protected] KarlIagnemma MIT 77MassachusettsAve Room3-435a Cambridge,MA02139 USA E-mail:[email protected] ISBN978-3-642-13407-4 e-ISBN978-3-642-13408-1 DOI 10.1007/978-3-642-13408-1 SpringerTractsinAdvancedRobotics ISSN1610-7438 LibraryofCongressControlNumber:2010928124 (cid:2)c 2010Springer-VerlagBerlinHeidelberg Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialis concerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting, reproductiononmicrofilmorinanyotherway,andstorageindatabanks.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember 9, 1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Violations areliableforprosecutionundertheGermanCopyrightLaw. 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Printedinacid-freepaper 543210 springer.com EditorialAdvisoryBoard OliverBrock,TUBerlin,Germany HermanBruyninckx,KULeuven,Belgium RajaChatila,LAAS,France HenrikChristensen,GeorgiaTech,USA PeterCorke,QueenslandUniv.Technology,Australia PaoloDario,ScuolaS.AnnaPisa,Italy RüdigerDillmann,Univ.Karlsruhe,Germany KenGoldberg,UCBerkeley,USA JohnHollerbach,Univ.Utah,USA MakotoKaneko,OsakaUniv.,Japan LydiaKavraki,RiceUniv.,USA VijayKumar,Univ.Pennsylvania,USA SukhanLee,SungkyunkwanUniv.,Korea FrankPark,SeoulNationalUniv.,Korea TimSalcudean,Univ.BritishColumbia,Canada RolandSiegwart,ETHZurich,Switzerland GauravSukhatme,Univ.SouthernCalifornia,USA SebastianThrun,StanfordUniv.,USA YangshengXu,ChineseUniv.HongKong,PRC Shin’ichiYuta,TsukubaUniv.,Japan N SdeTrAtRhe(aSupsrpinicgeesrTofraEcUtsRinOANd(vEaunrcoepdeRanobRootbicost)ichsasRbeeseeanrpcrhoNmeottwedorukn)- RERuersoOepaeracBnhROO************TICS NetworkU E Foreword Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human envi- ronments and vigorously engaged in its new challenges. Interacting with, assist- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has pro- duced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosci- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the inter- section of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics field on the basis of their significance and quality. Through a wide and timely dissemination of critical re- search developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and con- tribute to further advancements in this rapidly growing field. The Seventh edition of Field and Service Robotics edited by Andrew Howard, Karl Iagnemma and Alonzo Kelly offers in its eleven-chapter volume a collection of a broad range of topics spanning: design, perception and control; tracking and sensing; localization and mapping; multi-robot cooperation and human-robot in- teraction; mining, maritime and planetary robotics. The contents of the forty-five contributions represent a cross-section of the current state of robotics research from one particular aspect: field and service applications, and how they reflect on the theoretical basis of subsequent developments. Pursuing technologies aimed at realizing robots operating in complex and dynamic environments, as well as ro- bots working closely with humans, is the big challenge running throughout this focused collection. Rich by topics and authoritative contributors, FSR culminates with this unique reference on the current developments and new directions in field and service ro- botics. A fine addition to the series! Naples, Italy Bruno Siciliano March 2010 STAR Editor Preface Field and Service Robotics (FSR) is one of the (presently) five major conferences founded by the International Federation of Robotics Research (IFRR). As such, FSR is the leading single track conference dedicated to research related to devel- opment of robots that do real work, whether that work is hard labor or the per- formance of useful services. Field robots are often purpose-built machines that are highly adapted to their jobs, and hence their surroundings; they exhibit high mo- bility and they typically interact forcefully with their environments. By contrast, service robots are more adapted to assisting humans and they interact with their surroundings with a somewhat lighter touch. The FSR conference is held every two years. Dating from 1997 it has followed a regular three continent rotation. It has been held in Canberra, Australia (1997), Pittsburgh, USA (1999), Helsinki, Finland (2001), Mount Fuji, Japan (2003), Port Douglas, Australia (2005), Chamonix, France (2007) and most recently in Cam- bridge, USA (2009). This year we had 80 submissions of which 45 were selected for oral presentations. The conference chairs were: Alonzo Kelly (CMU), Karl Iagnemma (MIT) and Andrew Howard (Caltech-JPL) The conference is overseen by members of the international organizing com- mittee, who also serve on the program committee: Hajime Asama U Tokyo, Japan Raja Chatila LAAS/CNRS, France Henrik Christensen Georgia Tech, USA Peter Corke CSIRO, Australia Aarne Halme Helsinki U of Tech, Finland John Hollerbach U of Utah, USA Andrew Howard JPL / Cal Tech, USA Karl Iagnemma MIT, USA Alonzo Kelly CMU, USA John Leonard MIT, USA Christian Laugier INRIA, France Eduardo Nebot U Sydney, Australia Erwin Prassler U Applied Science Bonn, Germany Jonathan Roberts CSIRO, Australia Daniela Rus MIT, USA Sanjiv Singh CMU, USA Roland Siegwart ETH Zurich, Switzerland X Preface Salah Sukkarieh U Sydney, Australia Chuck Thorpe CMU, Qatar Sebastian Thrun Stanford, USA David Wettergreen CMU, USA Kazuya Yoshida Tohoku U, Japan Alex Zelinsky CSIRO Australia The following researchers also served on the program committee for FSR09. Timothy Barfoot University of Toronto Martin Beuller iRobot Corp. Wolfram Burgard Albert-Ludwigs-Universität Freiburg Toshio Fukuda Nagoya University Satoshi Kagami AIST Digtal Human Research Center Simon Lacroix LAAS-CNRS David P Miller University of Oklahoma Paul Newman Oxford University Liam Pedersen NASA Ames Miguel Angel Salichs Carlos III University of Madrid. Gaurav S Sukhatme University of Southern California Satoshi Tadokoro Tohoku University Takashi Tsubouchi University of Tsukuba Arto Visala Helsinki University of Technology Uwe Zimmer Australian National University The conference was sponsored by the US Army Research Office, iRobot Cor- poration, the US Army TARDEC, and US Army Corps of Engineers ERDC. Mihail Pivtoraiko, Colin Green, and Chris Ward gave generously of their time to help arrange many aspects of the social and technical program and publicity. Contents Part I: Mechanism Design Terrain Modeling and Following Using a Compliant Manipulator for Humanitarian Demining Applications....... 3 Marc Freese, Surya P.N. Singh, William Singhose, Edwardo F. Fukushima, Shigeo Hirose Towards Autonomous Wheelchair Systems in Urban Environments................................................ 13 Chao Gao, Michael Sands, John R. Spletzer Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and Its Launching Winch).............. 25 Nobukazu Asano, Hideichi Nakamoto, Tetsuo Hagiwara, Shigeo Hirose New Measurement Concept for Forest Harvester Head ...... 35 Mikko Miettinen, Jakke Kulovesi, Jouko Kalmari, Arto Visala Expliner – Toward a Practical Robot for Inspection of High-Voltage Lines .......................................... 45 Paulo Debenest, Michele Guarnieri, Kenskue Takita, Edwardo F. Fukushima, Shigeo Hirose, Kiyoshi Tamura, AkihiroKimura,HiroshiKubokawa,NarumiIwama,FuminoriShiga, Yukio Morimura, Youichi Ichioka Part II: Perception and Control Experimental Study of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios ......................................... 59 Sterling J. Anderson, Steven C. Peters, Tom E. Pilutti, Karl Iagnemma XII Contents Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths ......................... 69 Thomas M. Howard, Colin J. Green, Alonzo Kelly Posterior Probability Estimation Techniques Embedded in a Bayes Filter for Vibration-Based Terrain Classification .... 79 Philippe Komma, Andreas Zell Towards Visual Arctic Terrain Assessment................... 91 Stephen Williams, Ayanna M. Howard Part III: Tracking and Servoing Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data............................ 103 Luis E. Navarro-Serment, Christoph Mertz, Martial Hebert Passive, Long-Range Detection of Aircraft: Towards a Field Deployable Sense and Avoid System ......................... 113 Debadeepta Dey, Christopher Geyer, Sanjiv Singh, Matt Digioia Multiclass Multimodal Detection and Tracking in Urban Environments................................................ 125 Luciano Spinello, Rudolph Triebel, Roland Siegwart Vision-Based Vehicle Trajectory Following with Constant Time Delay.................................................. 137 Hien K. Goi, Timothy D. Barfoot, Bruce A. Francis, Jared L. Giesbrecht Part IV: Localization Radar Scan Matching SLAM Using the Fourier-Mellin Transform ................................................... 151 PaulChecchin,FranckG´erossier,Christophe Blanc,RolandChapuis, Laurent Trassoudaine An Automated Asset Locating System (AALS) with Applications to Inventory Management...................... 163 Thomas H. Miller, David A. Stolfo, John R. Spletzer Active SLAM and Loop Prediction with the Segmented Map Using Simplified Models................................ 173 Nathaniel Fairfield, David Wettergreen Contents XIII Outdoor Downward-Facing Optical Flow Odometry with Commodity Sensors ......................................... 183 Michael Dille, Ben Grocholsky, Sanjiv Singh Place Recognition Using Regional Point Descriptors for 3D Mapping..................................................... 195 Michael Bosse and Robert Zlot Part V: Mapping Scan-Point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment.................. 207 Keiji Nagatani, Takayuki Matsuzawa, Kazuya Yoshida Image and Sparse Laser Fusion for Dense Scene Reconstruction .............................................. 219 Alastair Harrison, Paul Newman Relative Motion Threshold for Rejection in ICP Registration ................................................. 229 Franc¸ois Pomerleau, Francis Colas, Franc¸ois Ferland, Franc¸ois Michaud Bandit-Based Online Candidate Selection for Adjustable Autonomy ................................................... 239 Boris Sofman, J. Andrew Bagnell, Anthony Stentz Applied Imitation Learning for Autonomous Navigation in Complex Natural Terrain.................................... 249 David Silver, J. Andrew Bagnell, Anthony Stentz Part VI: Underwater Localization and Mapping Trajectory Design for Autonomous Underwater Vehicles Based on Ocean Model Predictions for Feature Tracking..... 263 Ryan N. Smith, Yi Chao, Burton H. Jones, David A. Caron, Peggy P. Li, Gaurav S. Sukhatme AUV Benthic Habitat Mapping in South Eastern Tasmania .................................................... 275 Stefan B. Williams, Oscar Pizarro, Michael Jakuba, Neville Barrett Sensor Network Based AUV Localisation .................... 285 David Prasser, Matthew Dunbabin