Software Engineering for Experimental Robotics - Davide Brugali et al Part 17 doc

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L0DK30/ DH085 &8C 05H"C5"H C88H0D% PR ?W)Q?W:B?= )"8?:"= QB[E )]R=)WW)Q FB=H CC% BH C% )Q[Q_ ZaaZ% EH *G% ZaaZH aC! H )=B[RB\% H =E]BQW8_% ?& H 8)===:% 0CHK3 C"30HO H883D &8C 05H"C/ 5"H C88H0D% QB"H  ?W)Q?H B?.H B? BBW:"R ?& [WB>W:B? PZaaC F)B[=% BQ)% _% ZaaC% EEH C*T*9C**XG% ZaaCH a3! H )=B[RB\% H `B?B\% ?&  8)[<B\% "/D"! H"3"8:"CH085 8& H." C88H 05H"CH05- M0H. &DH 48L05- 81"HD% QB"H B. W8)  ?WH B?.H B? BBW:"R ?& [WB>W:B? PZaa3 FQ")=B?% E:?G% Zaa3H Springer Tracts in Advanced Robotics Edited by B. Siciliano, O. Khatib, and F. Groen Vol. 29: Secchi, C.; Stramigioli, S.; Fantuzzi, C. Control of Interactive Robotic Interfaces { A Port-Hamiltonian Approach 225 p. 2007 [978-3-540-49712-7] Vol. 28: Thrun, S.; Brooks, R.; Durrant-Whyte, H. (Eds.) Robotics Research { Results of the 12th International Symposium ISRR 602 p. 2007 [978-3-540-48110-2] Vol. 27: Montemerlo, M.; Thrun, S. FastSLAM { A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics 120 p. 2007 [978-3-540-46399-3] Vol. 26: Taylor, G.; Kleeman, L. Visual Perception and Robotic Manipulation { 3D Object Recognition, Tracking and Hand-Eye Coordination 218 p. 2007 [978-3-540-33454-5] Vol. 25: Corke, P.; Sukkarieh, S. (Eds.) Field and Service Robotics { Results of the 5th International Conference 580 p. 2006 [978-3-540-33452-1] Vol. 24: Yuta, S.; Asama, H.; Thrun, S.; Prassler, E.; Tsubouchi, T. (Eds.) Field and Service Robotics { Recent Advances in Research and Applications 550 p. 2006 [978-3-540-32801-8] Vol. 23: Andrade-Cetto, J,; Sanfeliu, A. Environment Learning for Indoor Mobile Robots { A Stochastic State Estimation Approach to Simultaneous Localization and Map Building 130 p. 2006 [978-3-540-32795-0] Vol. 22: Christensen, H.I. (Ed.) European Robotics Symposium 2006 209 p. 2006 [978-3-540-32688-5] Vol. 21: Ang Jr., H.; Khatib, O. (Eds.) Experimental Robotics IX { The 9th International Symposium on Experimental Robotics 618 p. 2006 [978-3-540-28816-9] Vol. 20: Xu, Y.; Ou, Y. Control of Single Wheel Robots 188 p. 2005 [978-3-540-28184-9] Vol. 19: Lefebvre, T.; Bruyninckx, H.; De Schutter, J. Nonlinear Kalman Filtering for Force-Controlled Robot Tasks 280 p. 2005 [978-3-540-28023-1] Vol. 18: Barbagli, F.; Prattichizzo, D.; Salisbury, K. (Eds.) Multi-point Interaction with Real and Virtual Objects 281 p. 2005 [978-3-540-26036-3] Vol. 17: Erdmann, M.; Hsu, D.; Overmars, M.; van der Stappen, F.A (Eds.) Algorithmic Foundations of Robotics VI 472 p. 2005 [978-3-540-25728-8] Vol. 16: Cuesta, F.; Ollero, A. Intelligent Mobile Robot Navigation 224 p. 2005 [978-3-540-23956-7] Vol. 15: Dario, P.; Chatila R. (Eds.) Robotics Research { The Eleventh International Symposium 595 p. 2005 [978-3-540-23214-8] Vol. 14: Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; H  agele, M.; Dillmann, R.; Iossiˇdis. I. (Eds.) Advances in Human-Robot Interaction 414 p. 2005 [978-3-540-23211-7] Vol. 13: Chung, W. Nonholonomic Manipulators 115 p. 2004 [978-3-540-22108-1] Vol. 12: Iagnemma K.; Dubowsky, S. Mobile Robots in Rough Terrain { Estimation, Motion Planning, and Control with Application to Planetary Rovers 123 p. 2004 [978-3-540-21968-2] Vol. 11: Kim, J H.; Kim, D H.; Kim, Y J.; Seow, K T. Soccer Robotics 353 p. 2004 [978-3-540-21859-3] Vol. 10: Siciliano, B.; De Luca, A.; Melchiorri, C.; Casalino, G. (Eds.) Advances in Control of Articulated and Mobile Robots 259 p. 2004 [978-3-540-20783-2] Vol. 9: Yamane, K. Simulating and Generating Motions of Human Figures 176 p. 2004 [978-3-540-20317-9] Vol. 8: Baeten, J.; De Schutter, J. Integrated Visual Servoing and Force Control { The Task Frame Approach 198 p. 2004 [978-3-540-40475-0] Vol. 7: Boissonnat, J D.; Burdick, J.; Goldberg, K.; Hutchinson, S. (Eds.) Algorithmic Foundations of Robotics V 577 p. 2004 [978-3-540-40476-7] Vol. 6: Jarvis, R.A.; Zelinsky, A. (Eds.) Robotics Research { The Tenth International Symposium 580 p. 2003 [978-3-540-00550-6] Vol. 5: Siciliano, B.; Dario, P. (Eds.) Experimental Robotics VIII { Proceedings of the 8th International Symposium ISER02 685 p. 2003 [978-3-540-00305-2] Vol. 4: Bicchi, A.; Christensen, H.I.; Prattichizzo, D. (Eds.) Control Problems in Robotics 296 p. 2003 [978-3-540-00251-2] Vol. 3: Natale, C. Interaction Control of Robot Manipulators { Six-degrees-of-freedom Tasks 120 p. 2003 [978-3-540-00159-1] Vol. 2: Antonelli, G. Underwater Robots { Motion and Force Control of Vehicle-Manipulator Systems 268 p. 2006 [978-3-540-31752-4] Vol. 1: Caccavale, F.; Villani, L. (Eds.) Fault Diagnosis and Fault Tolerance for Mechatronic Systems { Recent Advances 191 p. 2003 [978-3-540-44159-5] Printing: Krips bv, Meppel Binding: Stürtz, Würzburg . { Six-degrees-of-freedom Tasks 120 p. 2003 [97 8-3 -5 4 0-0 015 9-1 ] Vol. 2: Antonelli, G. Underwater Robots { Motion and Force Control of Vehicle-Manipulator Systems 268 p. 2006 [97 8-3 -5 4 0-3 175 2-4 ] Vol 2007 [97 8-3 -5 4 0-4 811 0-2 ] Vol. 27: Montemerlo, M.; Thrun, S. FastSLAM { A Scalable Method for the Simultaneous Localization and Mapping Problem in Robotics 120 p. 2007 [97 8-3 -5 4 0-4 639 9-3 ] Vol The 9th International Symposium on Experimental Robotics 618 p. 2006 [97 8-3 -5 4 0-2 881 6-9 ] Vol. 20: Xu, Y.; Ou, Y. Control of Single Wheel Robots 188 p. 2005 [97 8-3 -5 4 0-2 818 4-9 ] Vol. 19: Lefebvre,