Distributed Autonomous Robotic Systems 3
Distributed autonomous robotic systems (DARS) are systems composed of multiple autonomous units such as modules, cells, processors, agents, and robots. Combination or cooperative operation of multiple autonomous units is expected to lead to desirable feat
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Springer Berlin Heidelberg New York Barcelona Budapest Hong Kong London Milan Paris Santa Clara Singapore Tokyo
Tim Lueth Rudiger Dillmann Paolo Dario Heinz Worn
Distributed Autonomous Robotic Systems 3 With 220 Figures and 21 Tables
Springer
Prof. Dr. Tim Lueth Charite· Humboldt-University FG Navigation and Robotics MKG . Clinic for Maxillofacial Surgery Augustenburger Platz 1, D-13353 Berlin, Germany
Prof. Dr. Rudiger Dillmann University of Karlsruhe Institute for Process Control and Robotics KaiserstraBe 12, D-76128 Karlsruhe, Germany
Prof. Dr. Paolo Dario Scuola Superiore "S. Anna", ARTS Lab. Via Carducci 40, 1-56100 Pis a, Italia
Prof. Dr. Heinz Worn University of Karlsruhe Institute for Process Control and Robotics KaiserstraBe 12, D-76128 Karlsruhe, Germany
ISBN-13:978-3-642-72200-4 e-ISBN-13:978-3-642-72198-4 10.1007/978-3-642-72198-4
DOl:
Cip data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme Lueth, Tim; Dillmann, RUdiger; Worn, Heinz: Distributed Autonomous Robotic Systems 3; with 220 figures and 21 tables / T. Lueth, R. Dillmann, H. Worn. Berlin; Heidelberg; New York; Barcelona; Budapest; HongKong; Milan; Paris; Santa Clara; Singapore; Tokyo: Springer, 1998 ISBN-13:978-3-642-72200-4 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, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, 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-Verlag. Violations are liable for prosecution act under German Copyright Law. © Springer-Verlag Berlin Heidelberg 1998 Softcover reprint of the hardcover 1st edition 1998
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Preface
The International Conference Committee would like to extend a cordial welcome to all participants of the DARS-4 Conference. This event was made possible through the joint endeavor of the organizer, the authors, and the sponsors: the ,,Deutsche Forschungsgemeinschaft (DFG)" and the state Baden-Wiirttemberg. Theconferenceisarea1internationalevent. Contributions came from almost any corner of the world. Of course, most of them from the host country Ger
