Intelligent Robotics and Applications 9th International Conference,
This two volume set LNAI 9834 and 9835 constitutes the refereed proceedings of the 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016, held in Tokyo, Japan, in August 2016. The 114 papers presented were carefully reviewed an
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Naoyuki Kubota · Kazuo Kiguchi Honghai Liu · Takenori Obo (Eds.)
Intelligent Robotics and Applications 9th International Conference, ICIRA 2016 Tokyo, Japan, August 22–24, 2016 Proceedings, Part II
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Lecture Notes in Artificial Intelligence Subseries of Lecture Notes in Computer Science
LNAI Series Editors Randy Goebel University of Alberta, Edmonton, Canada Yuzuru Tanaka Hokkaido University, Sapporo, Japan Wolfgang Wahlster DFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor Joerg Siekmann DFKI and Saarland University, Saarbrücken, Germany
9835
More information about this series at http://www.springer.com/series/1244
Naoyuki Kubota Kazuo Kiguchi Honghai Liu Takenori Obo (Eds.) •
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Intelligent Robotics and Applications 9th International Conference, ICIRA 2016 Tokyo, Japan, August 22–24, 2016 Proceedings, Part II
123
Editors Naoyuki Kubota Tokyo Metropolitan University Tokyo Japan
Honghai Liu University of Portsmouth Portsmouth UK
Kazuo Kiguchi Kyushu University Fukuoka Japan
Takenori Obo Tokyo Metropolitan University Tokyo Japan
ISSN 0302-9743 ISSN 1611-3349 (electronic) Lecture Notes in Artificial Intelligence ISBN 978-3-319-43517-6 ISBN 978-3-319-43518-3 (eBook) DOI 10.1007/978-3-319-43518-3 Library of Congress Control Number: 2016946926 LNCS Sublibrary: SL7 – Artificial Intelligence © Springer International Publishing Switzerland 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, 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. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper This Springer imprint is published by Springer Nature The registered company is Springer International Publishing AG Switzerland
Preface
The Organizing Committee of the 9th International Conference on Intelligent Robotics and Applications aimed to facilitate interactions among active participants in the field of intelligent robotics and mechatronics and their applications. Through this conference, the committee intended to enhance the sharing of individual experiences and expertise in intelligent robotics with particular em
