Algorithmic Foundations of Robotics IX.Pt.IX

Homotopic Path Planning on Manifolds for Cabled Mobile Robots .-An Equivalence Relation for Local Path Sets .- Using Lie Group Symmetries for Fast Corrective Motion Planning .- Asynchronous Distributed Motion Planning with Safety Guarantees under Second-Order Dynamics .- Incremental Sampling-Based Algorithms for Open-loop Solutions of Pursuit-Evasion Games .- Multiagent Pursuit Evasion, or Playing Kabaddi .- Reconguring Chain-type Modular Robots Based on the Carpenter's Rule Theorem .- Robomotion: Scalable, Physically Stable Locomotion for Self- Recongurable Robots .-Adaptive Time Stepping in Real-Time Motion Planning .- The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping .- Monte Carlo Value Iteration for Continuous State POMDPs .- Randomized Belief-Space Replanning in Partially-Observable Continuous Spaces .- GPU-based Parallel Collision Detection for Real-Time Motion Planning .-CCQ: Ecient Local Planning using Connection Collision Query .-Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation using the Principle of Maximum Dissipation .- Energy-based Modeling of Tangential Compliance in 3-Dimensional Impact .- Sampling-Diagrams Automata: A Tool for Analyzing Path Quality in Tree Planners .- Sucient Conditions for the Existence of Resolution Complete Planning Algorithms .- Grasp Invariance .- Path Planning on Manifolds using Randomized Higher-Dimensional Continuation .-Algorithms and Analytic Solutions using Sparse Residual Dipolar Couplings for High-Resolution Automated Protein Backbone Structure Determination by NMR: .- LQG-Based Planning, Sensing, and Control of Steerable Needles .- Goldberg Cyber Detectives: Determining When Robots or People Misbehave .- Gravity-Based Robotic Cloth Folding .