Field and Service Robotics: Results of the 10th International Conference (Springer Tracts in Advanced Robotics Book 113)

"This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, Europe" -- OhioLink Library Catalog Front Matter....Pages i-xv Front Matter....Pages 1-1 A Spatially and Temporally Scalable Approach for Long-Term Lakeshore Monitoring....Pages 3-16 Autonomous Greenhouse Gas Sampling Using Multiple Robotic Boats....Pages 17-30 Experimental Analysis of Receding Horizon Planning Algorithms for Marine Monitoring....Pages 31-44 Return to Antikythera: Multi-session SLAM Based AUV Mapping of a First Century B.C. Wreck Site....Pages 45-59 An Overview of MIT-Olin’s Approach in the AUVSI RobotX Competition....Pages 61-80 A Parameterized Geometric Magnetic Field Calibration Method for Vehicles with Moving Masses with Applications to Underwater Gliders....Pages 81-93 Towards Autonomous Robotic Coral Reef Health Assessment....Pages 95-108 Front Matter....Pages 109-109 Online Loop-Closure Detection via Dynamic Sparse Representation....Pages 111-124 Large Scale Dense Visual Inertial SLAM....Pages 125-139 Dense and Swift Mapping with Monocular Vision....Pages 141-155 Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception....Pages 157-172 Beyond a Shadow of a Doubt: Place Recognition with Colour-Constant Images....Pages 173-186 Segmentation and Classification of 3D Urban Point Clouds: Comparison and Combination of Two Approaches....Pages 187-199 A Stereo Vision Based Obstacle Detection System for Agricultural Applications....Pages 201-216 CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs....Pages 217-231 Learning a Context-Dependent Switching Strategy for Robust Visual Odometry....Pages 233-248 Front Matter....Pages 249-263 System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments....Pages 265-265 Design, Control, and Experimentation of Internally-Actuated Rovers for the Exploration of Low-Gravity Planetary Bodies....Pages 267-281 Considering the Effects of Gravity When Developing and Field Testing Planetary Excavator Robots....Pages 283-298 Front Matter....Pages 299-312 Update on the Qualification of the Hakuto Micro-rover for the Google Lunar X-Prize....Pages 265-265 Mobility Assessment of Wheeled Robots Operating on Soft Terrain....Pages 313-330 Taming the North: Multi-camera Parallel Tracking and Mapping in Snow-Laden Environments....Pages 331-344 Four-Wheel Rover Performance Analysis at Lunar Analog Test....Pages 345-359 Energy-Aware Terrain Analysis for Mobile Robot Exploration....Pages 361-371 Front Matter....Pages 373-388 Vision and Learning for Deliberative Monocular Cluttered Flight....Pages 389-389 Robust Autonomous Flight in Constrained and Visually Degraded Environments....Pages 391-409 Autonomous Exploration for Infrastructure Modeling with a Micro Aerial Vehicle....Pages 411-425 Long-Endurance Sensing and Mapping Using a Hand-Launchable Solar-Powered UAV....Pages 427-440 Aerial Vehicle Path Planning for Monitoring Wildfire Frontiers....Pages 441-454 Front Matter....Pages 455-467 Multi-robot Mapping of Lava Tubes....Pages 469-469 Admittance Control for Robotic Loading: Underground Field Trials with an LHD....Pages 471-486 From ImageNet to Mining: Adapting Visual Object Detection with Minimal Supervision....Pages 487-500 Front Matter....Pages 501-514 Building, Curating, and Querying Large-Scale Data Repositories for Field Robotics Applications....Pages 515-515 Search and Retrieval of Human Casualties in Outdoor Environments with Unmanned Ground Systems—System Overview and Lessons Learned from ELROB 2014....Pages 517-531 Monocular Visual Teach and Repeat Aided by Local Ground Planarity....Pages 533-546 In the Dead of Winter: Challenging Vision-Based Path Following in Extreme Conditions....Pages 547-561 Non-Field-of-View Acoustic Target Estimation in Complex Indoor Environment....Pages 563-576 Novel Assistive Device for Teaching Crawling Skills to Infants....Pages 577-592 SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports....Pages 593-605 Front Matter....Pages 607-622 Easy Estimation of Wheel Lift and Suspension Force for a Novel High-Speed Robot on Rough Terrain....Pages 515-515 Application of Multi-Robot Systems to Disaster-Relief Scenarios with Limited Communication....Pages 623-638 ....Pages 639-653