Advances in Autonomous Robotics Joint Proceedings of the 13th Annual
This book constitutes the refereed proceedings of the 13th Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Robot World Congress, FIRA 2012, held as joint conference in Bristol, UK, in August 2012. The 36 revised full papers prese
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NAI Founding Series Editor Joerg Siekmann DFKI and Saarland University, Saarbrücken, Germany
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Guido Herrmann Matthew Studley Martin Pearson Andrew Conn Chris Melhuish Mark Witkowski Jong-Hwan Kim Prahlad Vadakkepat (Eds.)
Advances in Autonomous Robotics Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress Bristol, UK, August 20-23, 2012
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Series Editors Randy Goebel, University of Alberta, Edmonton, Canada Jörg Siekmann, University of Saarland, Saarbrücken, Germany Wolfgang Wahlster, DFKI and University of Saarland, Saarbrücken, Germany Volume Editors Guido Herrmann, E-mail: [email protected] Matthew Studley, E-mail: [email protected] Martin Pearson, E-mail: [email protected] Andrew Conn, E-mail: [email protected] Chris Melhuish, E-mail: [email protected] Mark Witkowski, E-mail: [email protected] Jong-Hwan Kim, E-mail: [email protected] Prahlad Vadakkepat, E-mail: [email protected]
ISSN 0302-9743 e-ISSN 1611-3349 ISBN 978-3-642-32526-7 e-ISBN 978-3-642-32527-4 DOI 10.1007/978-3-642-32527-4 Springer Heidelberg Dordrecht London New York Library of Congress Control Number: 2012943620 CR Subject Classification (1998): I.2.9-10, I.2.6, I.4, H.5 LNCS Sublibrary: SL 7 – Artificial Intelligence © Springer-Verlag Berlin Heidelberg 2012 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Preface
These proceedings contain the papers presented at TAROS and FIRA in August 2012. TAROS 2012 was the 13th edition of the conference Towards Autonomous Robotic Systems, while FIRA was the 15th Robot World Congress. The joint conference was held in the city of Bristol, in the UK. The TAROS series was initiated by Ulrich Nehmzow in Manchester in 1997 under the name TIMR (Towards Intelligent Mobile Robots). In 1999, Chris Melhuish and Ulrich formed the conference Steering Committee, which was joined by Mark Witkowski in 2003 when the conference adopted its current name. The Steering Committee has provided a continuity of vision and purpose to the conference ov
