Robotics Research Volume 2
ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the sevente
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Antonio Bicchi Wolfram Burgard Editors
Robotics Research Volume 2
Springer Proceedings in Advanced Robotics Volume 3
Series editors Prof. Bruno Siciliano, Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy e-mail: [email protected] Prof. Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA e-mail: [email protected] Editorial Advisory Board Gianluca Antonelli, University of Cassino, Italy Dieter Fox, University of Washington, USA Kensuke Harada, Osaka University, Japan M. Ani Hsieh, University of Pennsylvania, USA Torsten Kröger, Karlsruhe Institute of Technology, Germany Dana Kulić, University of Waterloo, Canada Jaehung Park, Seoul National University, South Korea
The Springer Proceedings in Advanced Robotics (SPAR) publishes new developments and advances in the fields of robotics research, rapidly and informally but with a high quality. The intent is to cover all the technical contents, applications, and multidisciplinary aspects of robotics, embedded in the fields of Mechanical Engineering, Computer Science, Electrical Engineering, Mechatronics, Control, and Life Sciences, as well as the methodologies behind them. The publications within the “Springer Proceedings in Advanced Robotics” are primarily proceedings and post-proceedings of important conferences, symposia and congresses. They cover significant recent developments in the field, both of a foundational and applicable character. Also considered for publication are edited monographs, contributed volumes and lecture notes of exceptionally high quality and interest. An important characteristic feature of the series is the short publication time and world-wide distribution. This permits a rapid and broad dissemination of research results.
More information about this series at http://www.springer.com/series/15556
Antonio Bicchi Wolfram Burgard •
Editors
Robotics Research Volume 2
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Editors Antonio Bicchi Istituto Italiano di Tecnologia Genoa Italy
Wolfram Burgard Inst. für Informatik Albert-Ludwigs-Universität Freiburg Freiburg im Breisgau Germany
and Research Center “E.Piaggio” University of Pisa Pisa Italy
ISSN 2511-1256 ISSN 2511-1264 (electronic) Springer Proceedings in Advanced Robotics ISBN 978-3-319-60915-7 ISBN 978-3-319-60916-4 (eBook) DOI 10.1007/978-3-319-60916-4 Library of Congress Control Number: 2017930281 © Springer International Publishing AG 2018 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, trademar
