John Mullane and Martin D. Adams and Wijerupage S. WijesomaRudolph Triebel and Wolfram BurgardManuel Yguel and Olivier Aycard and Christian LaugierManjari Chandran-Ramesh and Paul NewmanAmaury Negre and Cedric Pradalier and Matthew DunbabinCedric PradalierDavide Scaramuzza and Nicolas Criblez and Agostino Martinelli and Roland SiegwartRoman Katz and Oliver Frank and Juan Nieto and Eduardo NebotDaniel Pizarro and Manuel Mazo and Enrique Santiso and Hideki HashimotoJohn Folkesson and Jacques Leederkerken and Rob Williams and Andrew Patrikalakis and John LeonardGeorge Kantor and Nathaniel Fairfield and Dominic Jonak and David WettergreenAmarjeet Singh and Maxim A. Batalin and Michael Stealey and Victor Chen and Mark H. Hansen and Thomas C. Harmon and Gaurav S. Sukhatme and William J. KaiserShahab Kalantar and Uwe ZimmerChao Zhou and Zhiqiang Cao and Shuo Wang and Xiang Dong and Min TanMohammad Aamir Khan and Aazir Khan and Matteo Zoppi and Rezia MolfinoMaria Bualat and Laurence Edwards and Terrence Fong and Michael Broxton and Lorenzo Flueckiger and Susan Y. Lee and Eric Park and Vinh To and Hans Utz and Vandi Verma and Clayton Kunz and Matt MacMahonMatt Roman and David P. Miller and Zac WhiteThomas Thueer and Roland SiegwartThomas Kampke and Boris Kluge and Erwin Prassler and Matthias StrobelRainer Kummerle and Rudolph Triebel and Patrick Pfaff and Wolfram BurgardMichael A. Kokko and Franz S. HoverAlen Alempijevic and Sarath Kodagoda and Gamini DissanayakeAndrew Viquerat and Lachlan Blackhall and Alistair Reid and Salah Sukkarieh and Graham BrookerJonathan Kelly and Srikanth Saripalli and Gaurav S. SukhatmeMassimo Bertozzi and Alberto Broggi and Stefano Ghidoni and Michael Del RoseDaniel Eck and Manuel Stahl and Klaus SchillingEnric Celaya and Jose-Luis Albarral and Pablo Jimenez and Carme TorrasBill Ross and John Bares and David Stager and Larry Jackel and Mike PerschbacherMitchell J.H. Lum and Diana C.W. Friedman and Hawkeye H.I. King and Regina Donlin and Ganesh Sankaranarayanan and Timoty J. Broderick and Mika N. Sinanan and Jacob Rosen and Blake HannafordJohn Folkesson and Henrik ChristensenSlawomir Grzonka and Christian Plagemann and Giorgio Grisetti and Wolfram BurgardZhan Wang and Shoudong Huang and Gamini DissanayakeJustin Carlson and Charles Thorpe and David L. DukeManuel Cugliari and Francesco MartinelliMatti Ohman and Mikko Miettinen and Kosti Kannas and Jaakko Jutila and Arto Visala and Pekka ForsmanMeng Keat Christopher Tay and Christian LaugierMac Schwager and Dean Anderson and Daniela RusLuciano Spinello and Roland SiegwartGreg Grudic and Jane Mulligan and Michael Otte and Adam BatesTakaaki Shimone and Daisuke Kurabayashi and Kunio Okita and Tetsuro FunatoGeoffrey Hollinger and Joseph Djugash and Sanjiv SinghSylvain Joyeux and Rachid Alami and Simon LacroixKeiji Nagatani and Kazuya Yoshida and Kiyoshi Kiyokawa and Yasushi Yagi and Tadashi Adachi and Hiroaki Saitoh and Toshiya Suzuki and Osamu TakizawaJihong Lee and Kyounghwan Jo and ChoulSoo JangCedric Pradalier and Kane UsherChao Gao and Ira Hoffman and Thomas Panzarella and John SpletzerSerge Montambault and Nicolas PouliotNorbert Elkmann and Mario Lucke and Tino Kruger and Dietmar Kunst and Thomas SturzeRoland Moser and Chris Udell and Alistair MontgomeryJoshua A. Marshall and Timothy D. BarfootJohan Baeten and Kevin Donne and Sven Boedrij and Wim Beckers and Eric ClaesenDaisuke Chugo and Wataru Matsuoka and Songmin Jia and Kunikatsu Takase and Hajime AsamaWolfgang Fischer and Fabien Tache and Roland SiegwartKimitoshi Yamazaki and Masahiro Tomono and Takashi TsubouchiGang Chen and Thierry FraichardThomas M. Howard and Colin J. Green and Alonzo Kelly

Part I Mapping
Outdoor Radar Mapping Using Measurement Likelihood Estimation	p. 3
Recovering the Shape of Objects in 3D Point Clouds with Partial Occlusions	p. 13
Update Policy of Dense Maps: Efficient Algorithms and Sparse Representation	p. 23
Assessing Map Quality Using Conditional Random Fields	p. 35
Part II Vision for Navigation
Robust Vision-Based Underwater Target Identification and Homing Using Self-Similar Landmarks	p. 51
Vision-Based Handling Tasks for an Autonomous Outdoor Forklift	p. 61
Robust Feature Extraction and Matching for Omnidirectional Images	p. 71
Dynamic Obstacle Detection Based on Probabilistic Moving Feature Recognition	p. 83
Mobile Robot Geometry Initialization from Single Camera	p. 93
Part III Underwater Robots and Systems
A Feature Based Navigation System for an Autonomous Underwater Robot	p. 105
Experiments in Navigation and Mapping with a Hovering AUV	p. 115
Mobile Robot Sensing for Environmental Applications	p. 125
Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles	p. 137
A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning	p. 147
Development of a 5 Degree-of-Freedom Towfish and Its Control Strategy	p. 157
Part IV Wheeled Robots
Autonomous Robotic Inspection for Lunar Surface Operations	p. 169
Roving Faster Farther Cheaper	p. 179
Characterization and Comparison of Rover Locomotion Performance Based on Kinematic Aspects	p. 189
Part V Localization and Sensor Fusion
Robot Position Estimation on a RFID-Tagged Smart Floor	p. 201
Monte Carlo Localization in Outdoor Terrains Using Multi-Level Surface Maps	p. 213
Estimating Vehicle Position Using Few Range Measurements to a Known Curved Surface	p. 223
Sensor Registration for Robotic Applications	p. 233
Part VI Aerial Navigation and Visual Tracking
Reactive Collision Avoidance for Unmanned Aerial Vehicles Using Doppler Radar	p. 245
Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle	p. 255
Pedestrian Shape Extraction by Means of Active Contours	p. 265
Part VII Teleoperation
The Small Outdoor Rover MERLIN and Its Assistance System for Tele-operations	p. 277
Visually-Guided Robot Navigation: From Artificial to Natural Landmarks	p. 287
An Advanced Teleoperation Testbed	p. 297
Teleoperation of a Surgical Robot Via Airborne Wireless Radio and Transatlantic Internet Links	p. 305
Part VIII SLAM
SIFT Based Graphical SLAM on a Packbot	p. 317
Look-Ahead Proposals for Robust Grid-Based SLAM	p. 329
Tradeoffs in SLAM with Sparse Information Filters	p. 339
Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation	p. 349
A FastSLAM Algorithm Based on the Unscented Filtering with Adaptive Selective Resampling	p. 359
Tree Measurement and Simultaneous Localization and Mapping System for Forest Harvesters	p. 369
Part IX Learning and Scene Estimation
Modelling Smooth Paths Using Gaussian Processes	p. 381
Data-Driven Identification of Group Dynamics for Motion Prediction and Control	p. 391
Unsupervised Detection of Artificial Objects in Outdoor Environments	p. 401
Online Learning of Multiple Perceptual Models for Navigation in Unknown Terrain	p. 411
Part X Multirobot Systems
Implementation of Formation Transition System Using Synchronization in a Mobile Robot Group	p. 423
Coordinated Search in Cluttered Environments Using Range from Multiple Robots	p. 433
A Plan Manager for Multi-robot Systems	p. 443
Development of a Networked Robotic System for Disaster Mitigation: System Description of Multi-robot System and Performance Tests of the Robots	p. 453
Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors	p. 463
Part XI Field Robotics - Systems and Applications
Experiments in Autonomous Reversing of a Tractor-Trailer System	p. 475
ATRS - A Technology-Based Solution to Automobility for Wheelchair Users	p. 485
Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance	p. 495
Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich	p. 505
Automated Steam Turbine Straddle Root Disc Head Inspection	p. 513
Design and Field Testing of an Autonomous Underground Tramming System	p. 521
Autonomous Fruit Picking Machine: A Robotic Apple Harvester	p. 531
Standing Assistance System for Rehabilitation Walker	p. 541
Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles	p. 551
Picking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator	p. 563
Part XII Path Planning
An Architecture for Automated Driving in Urban Environments	p. 575
State Space Sampling of Feasible Motions for High Performance Mobile Robot Navigation in Highly Constrained Environments	p. 585
Author Index	p. 595