Intelligent Robotics and Applications 4th International Conferen
The two volume set LNAI 7101 and 7102 constitute the refereed proceedings of the 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, held in Aachen, Germany, in November 2011. The 122 revised full papers presented were thoro
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LNAI Founding Series Editor Joerg Siekmann DFKI and Saarland University, Saarbrücken, Germany
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Sabina Jeschke Honghai Liu Daniel Schilberg (Eds.)
Intelligent Robotics and Applications 4th International Conference, ICIRA 2011 Aachen, Germany, December 6-8, 2011 Proceedings, Part II
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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 Sabina Jeschke RWTH Aachen University, IMA/ZLW & IFU Dennewartstraße 27, 52068 Aachen, Germany E-mail: [email protected] Honghai Liu University of Portsmouth, School of Creative Technologies Intelligent Systems and Biomedical Robotics Group Eldon Building, Winston Churchill Avenue, Portsmouth, PO1 2DJ, UK E-mail: [email protected] Daniel Schilberg RWTH Aachen University, IMA/ZLW & IFU Dennewartstraße 27, 52068 Aachen, Germany E-mail: [email protected]
ISSN 0302-9743 e-ISSN 1611-3349 ISBN 978-3-642-25488-8 e-ISBN 978-3-642-25489-5 DOI 10.1007/978-3-642-25489-5 Springer Heidelberg Dordrecht London New York Library of Congress Control Number: 2011941364 CR Subject Classification (1998): I.4, I.5, I.2, I.2.10, H.4, C.2 LNCS Sublibrary: SL 7 – Artificial Intelligence © Springer-Verlag Berlin Heidelberg 2011 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
Robots are increasingly being used for service duties, exploring inaccessible areas and for emergency and security tasks, besides their conventional application in industrial environments. The trend toward intelligent and autonomous systems is uninterrupted and poses new challenges for the interaction between humans and robots. Controlling robots is far beyond conventional programming specific tasks and cooperation between humans and robots becomes crucially important. As a result, the behavior of modern robots needs to be optimized toward these new challenges. Against this background, the 4th International Conferen
