Simulation, Modeling, and Programming for Autonomous Robots: Second International Conference, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010, Proceedings - Lecture Notes in Artificial Intelligence 2010 edition

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Marc Notes: Includes bibliographical references and index.; Description based on print version record. Table of Contents: Invited Talks -- Building Blocks for Mobile Manipulation (Abstract) / Brian P. Gerkey -- Natural Human-Robot Interaction (Abstract) / Takayuki Kanda -- Robots and the Human (Abstract) / Oussama Khatib -- The Modelica Object-Oriented Equation-Based Language and Its OpenModelica Environment with MetaModeling, Interoperability, and Parallel Execution / Peter Fritzson -- Simulation -- Blender for Robotics: Integration into the Leuven Paradigm for Robot Task Specification and Human Motion Estimation / Koen Buys, Tinne De Laet, Ruben Smits, Herman Bruyninckx -- Simulating the C2SM 'Fast' Robot / Robert Codd-Downey, Michael Jenkin, Matthew Ansell, Ho-Kong Ng, Piotr Jasiobedzki -- Extending Open Dynamics Engine for Robotics Simulation / Evan Drumwright, John Hsu, Nathan Koenig, Dylan Shell -- Virtual Robot Experimentation Platform V-REP: A Versatile 3D Robot Simulator / Marc Freese, Surya Singh, Fumio Ozaki, Nobuto Matsuhira -- Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors / Martin Friedmann, Karen Petersen, Oskar von Stryk -- High Fidelity Sensor Simulations for the Virtual Autonomous Navigation Environment / Chris Goodin, Phillip J. Durst, Burhman Gates, Chris Cummins, Jody Priddy -- GPS/Galileo Testbed Using a High Precision Optical Positioning System / Robin He?, Klaus Schilling -- Validating Vision and Robotic Algorithms for Dynamic Real World Environments / Tobias Kotthauser, Barbel Mertsching -- OpenGRASP: A Toolkit for Robot Grasping Simulation / Beatriz Leon, Stefan Ulbrich, Rosen Diankov, Gustavo Puche, Markus Przybylski, Antonio Morales, Tamim Asfour, Sami Moisio, Jeannette Bohg, James Kuffner, Rudiger Dillmann -- NERD Neurodynamics and Evolutionary Robotics Development Kit / Christian Rempis, Verena Thomas, Ferry Bachmann, Frank Pasemann -- Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations / Vinay Sachidananda, Diego Costantini, Christian Reinl, Dominik Haumann, Karen Petersen, Parag S. Mogre, Abdelmajid Khelil -- Evaluating a Physics Engine as an Ingredient for Physical Reasoning / Erik Weitnauer, Robert Haschke, Helge Ritter -- Simulating Vehicle Kinematics with SimVis3D and Newton / Jens Wettach, Daniel Schmidt, Karsten Berns -- Programming -- Coordinating Software Components in a Component-Based Architecture for Robotics / Geoffrey Biggs, Noriaki Ando, Tetsuo Kotoku -- Native Robot Software Framework Inter-operation / Geoffrey Biggs, Noriaki Ando, Tetsuo Kotoku -- Run-Time Management of Component-Based Robot Software from a Command Line / Geoffrey Biggs, Noriaki Ando, Tetsuo Kotoku -- Modelling Behaviour Requirements for Automatic Interpretation, Simulation and Deployment / David Billington, Vladimir Estivill-Castro, Rene Hexel, Andrew Rock -- Implementing Automated Robot Task Planning and Execution Based on Description Logic KB / Joonmyun Cho, Hyun Kim, Joochan Sohn -- On the Way to High-Level Programming for Resource-Limited Embedded Systems with Golog / Alexander Ferrein, Gerald Steinbauer -- RobustHX-The Robust Middleware Library for Hexor Robots / Konrad Kulakowski, Piotr Matyasik -- RoboComp: A Tool-Based Robotics Framework / Luis Manso, Pilar Bachiller, Pablo Bustos, Pedro Nunez, Ramon Cintas, Luis Calderita -- Improving a Robotics Framework with Real-Time and High-Performance Features / Jesus Martinez, Adrian Romero-Garces, Luis Manso, Pablo Bustos -- Implementation of Distributed Production System for Heterogeneous Multiprocessor Robotic Systems / Yosuke Matsusaka, Isao Hara -- Robot Programming by Demonstration / Krishna Kumar Narayanan, Luis Felipe Posada, Frank Hoffmann, Torsten Bertram -- Design Principles of the Component-Based Robot Software Framework Fawkes / Tim Niemueller, Alexander Ferrein, Daniel Beck, Gerhard Lakemeyer -- Handling Hardware Heterogeneity through Rich Interfaces in a Component Model for Autonomous Robotics / Olena Rogovchenko, Jacques Malenfant -- Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering / Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll -- Applications -- Using Simulation to Assess the Effectiveness of Pallet Stacking Methods / Stephen Balakirsky, Fred Proctor, Tom Kramer, Pushkar Kolhe, Henrik I. Christensen -- Analysing Mixed Reality Simulation for Industrial Applications: A Case Study in the Development of a Robotic Screw Remover System / Ian Yen-Hung Chen, Bruce MacDonald, Burkhard Wunsche, Geoffrey Biggs, Tetsuo Kotoku -- A Parameterless Biologically Inspired Control Algorithm Robust to Nonlinearities, Dead-Times and Low-Pass Filtering Effects / Fabio DallaLibera, Shuhei Ikemoto, Takashi Minato, Hiroshi Ishiguro, Emanuele Menegatti, Enrico Pagello -- Exploration Strategies for a Robot with a Continously Rotating 3D Scanner / Elena Digor, Andreas Birk, Andreas Nuchter -- Validating an Active Stereo System Using USARSim / Sebastian Drews, Sven Lange, Peter Protzel -- Performance Analysis for Multi-robot Exploration Strategies / Sebastian Frank, Kim Listmann, Dominik Haumann, Volker Willert -- Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control / Thomas Lens, Jurgen Kunz, Oskar von Stryk -- Static Balance for Rescue Robot Navigation: Discretizing Rotational Motion within Random Step Environment / Evgeni Magid, Takashi Tsubouchi -- Discovery, Localization and Recognition of Smart Objects by a Mobile Robot / Emanuele Menegatti, Matteo Danieletto, Marco Mina, Alberto Pretto, Andrea Bardella, Andrea Zanella, Pietro Zanuttigh -- Simulation for the Optimal Design of a Biped Robot: Analysis of Energy Consumption / Federico Moro, Giuseppina Gini, Milos Zefran, Aleksandar Rodic -- Efficient Use of 3D Environment Models for Mobile Robot Simulation and Localization / Andreu Corominas Murtra, Eduard Trulls, Josep M. Mirats Tur, Alberto Sanfeliu -- Decision and Coordination Strategies for RoboCup Rescue Agents / Maitreyi Nanjanath, Alexander J. Erlandson, Sean Andrist, Aravind Ragipindi, Abdul A. Mohammed, Ankur S. Sharma, Maria Gini -- Swarm Dispersion via Potential Fields, Leader Election, and Counting Hops / Anuraag Pakanati, Maria Gini -- Compliant Robot Action by Feedforward Emulated Spring Stiffness / Katayon Radkhah, Stefan Kurowski, Thomas Lens, Oskar von Stryk -- Different Approaches in Feeding of a Manufacturing Cell / Claudia Raluca Tudorie -- On the Stability of Bipedal Walking / Pieter van Zutven, Dragan Kostic, Henk Nijmeijer -- An Approach to Close the Gap between Simulation and Real Robots / Yuan Xu, Heinrich Mellmann, Hans-Dieter Burkhard -- Accelerating Point-Based POMDP Algorithms via Greedy Strategies / Zongzhang Zhang, Xiaoping Chen -- Author Index. Publisher Marketing: Why are the many highly capable autonomous robots that have been promised for novel applications driven by society, industry, and research not available - day despite the tremendous progress in robotics science and systems achieved during the last decades? Unfortunately, steady improvements in speci?c robot abilities and robot hardware have not been matched by corresponding robot performance in real world environments. This is mainly due to the lack of - vancements in robot software that master the development of robotic systems of ever increasing complexity. In addition, fundamental open problems are still awaiting sound answers while the development of new robotics applications s- fersfromthelackofwidelyusedtools, libraries, andalgorithmsthataredesigned in a modular and performant manner with standardized interfaces. Simulation environments are playing a major role not only in reducing development time and cost, e. g., by systematic software- or hardware-in-the-loop testing of robot performance, but also in exploring new types of robots and applications. H- ever, their use may still be regardedwith skepticism. Seamless migrationof code using robot simulators to real-world systems is still a rare circumstance, due to the complexity of robot, world, sensor, and actuator modeling. These challenges drive the quest for the next generation of methodologies and tools for robot development. The objective of the International Conference on Simulation, Modeling, and ProgrammingforAutonomous Robots (SIMPAR) is to o?er a unique forum for these topics and to bring together researchersfrom academia and industry to identify and solve the key issues necessary to ease the development of increasingly complex robot softwar