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Algorithmic Foundations of Robotics XIII

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Cover of 'Algorithmic Foundations of Robotics XIII'

Table of Contents

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    Book Overview
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    Chapter 1 Path Planning for Ellipsoidal Robots and General Obstacles via Closed-Form Characterization of Minkowski Operations
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    Chapter 2 Free Space of Rigid Objects: Caging, Path Non-existence, and Narrow Passage Detection
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    Chapter 3 Fast Collision Detection for Motion Planning Using Shape Primitive Skeletons
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    Chapter 4 Fast Swept Volume Estimation with Deep Learning
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    Chapter 5 Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces
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    Chapter 6 A Visibility-Based Approach to Computing Nondeterministic Bouncing Strategies
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    Chapter 7 Finding Plans Subject to Stipulations on What Information They Divulge
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    Chapter 8 Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives
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    Chapter 9 An Approximation Algorithm for Risk-Averse Submodular Optimization
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    Chapter 10 Pushing Fast and Slow: Task-Adaptive Planning for Non-prehensile Manipulation Under Uncertainty
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    Chapter 11 Learning Stabilizable Dynamical Systems via Control Contraction Metrics
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    Chapter 12 Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
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    Chapter 13 A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning
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    Chapter 14 Learning Constraints from Demonstrations
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    Chapter 15 Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations
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    Chapter 16 SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
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    Chapter 17 Active Area Coverage from Equilibrium
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    Chapter 18 Learning a Spatial Field with Gaussian Process Regression in Minimum Time
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    Chapter 19 Meta-learning Priors for Efficient Online Bayesian Regression
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    Chapter 20 Deep BOO! Automating Beam Orientation Optimization in Intensity-Modulated Radiation Therapy
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    Chapter 21 Continuous Optimization Framework for Depth Sensor Viewpoint Selection
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    Chapter 22 Look Before You Sweep: Visibility-Aware Motion Planning
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    Chapter 23 Path Planning for Information Gathering with Lethal Hazards and No Communication
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    Chapter 24 Reactive Navigation in Partially Known Non-convex Environments
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    Chapter 25 Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
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    Chapter 26 RMP flow : A Computational Graph for Automatic Motion Policy Generation
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    Chapter 27 Dynamic Model of Planar Sliding
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    Chapter 28 A Constrained Kalman Filter for Rigid Body Systems with Frictional Contact
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    Chapter 29 A Quasi-static Model and Simulation Approach for Pushing, Grasping, and Jamming
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    Chapter 30 GP-SUM. Gaussian Process Filtering of non-Gaussian Beliefs
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    Chapter 31 Time-Optimal Motion of Spatial Dubins Systems
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    Chapter 32 Robust Tracking with Model Mismatch for Fast and Safe Planning: An SOS Optimization Approach
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    Chapter 33 Semi-infinite Programming for Trajectory Optimization with Nonconvex Obstacles
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    Chapter 34 Signal Temporal Logic Meets Reachability: Connections and Applications
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    Chapter 35 Low Complexity Control Policy Synthesis for Embodied Computation in Synthetic Cells
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    Chapter 36 Parallax Bundle Adjustment on Manifold with Improved Global Initialization
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    Chapter 37 Practical Exponential Coordinates Using Implicit Dual Quaternions
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    Chapter 38 A Performance Analysis of Parallel Differential Dynamic Programming on a GPU
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    Chapter 39 Time Integrating Articulated Body Dynamics Using Position-Based Collocation Methods
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    Chapter 40 Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
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    Chapter 41 Interlocking Block Assembly
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    Chapter 42 CADbots: Algorithmic Aspects of Manipulating Programmable Matter with Finite Automata
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    Chapter 43 Multi-agent Trajectory Prediction and Generation with Topological Invariants Enforced by Hamiltonian Dynamics
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    Chapter 44 Balancing Unpredictability and Coverage in Adversarial Patrolling Settings
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    Chapter 45 Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
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    Chapter 46 Motion Planning for Multiple Unit-Ball Robots in $$\mathbb {R}^{{\varvec{d}}}$$
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    Chapter 47 Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density
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    Chapter 48 An Experimental Analysis on the Necessary and Sufficient Conditions for the RRT* Applied to Dynamical Systems
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    Chapter 49 Hardness of 3D Motion Planning Under Obstacle Uncertainty
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    Chapter 50 The Hardness of Minimizing Design Cost Subject to Planning Problems
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    Chapter 51 Altruistic Autonomy: Beating Congestion on Shared Roads
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    Chapter 52 Operation and Imitation Under Safety-Aware Shared Control
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    Chapter 53 Guided Exploration of Human Intentions for Human-Robot Interaction
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    Chapter 54 Counterexample-Guided Safety Contracts for Autonomous Driving
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Title
Algorithmic Foundations of Robotics XIII
Published by
Springer International Publishing, June 2020
DOI 10.1007/978-3-030-44051-0
ISBNs
978-3-03-044050-3, 978-3-03-044051-0
Editors

Morales, Marco, Tapia, Lydia, Sánchez-Ante, Gildardo, Hutchinson, Seth

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