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1、SpringerTractsinAdvancedRoboticsVolume31Editors:BrunoSiciliano·OussamaKhatib·FransGroenManuelFerre,MartinBuss,RafaelAracil,ClaudioMelchiorriandCarlosBalaguer(Eds.)AdvancesinTeleroboticsABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitádiNapoliFedericoII,ViaClaudi
2、o21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmster
3、dam,TheNetherlands,E-mail:groen@science.uva.nlEditorsManuelFerreClaudioMelchiorriUniversidadPolitécnicadeMadridUniversityofBolognaDpto.deAutomática,IngenieríaLaboratoryofAutomationandRoboticsElectrónicaeInformáticaIndustrialDepartmentofElectronics,Computer28006Madrid,SpainScienceandSystem
4、sE-mail:m.ferre@upm.es40136Bologna,ItalyE-mail:cmelchiorri@deis.unibo.itMartinBussTechnischeUniversitätMünchenCarlosBalaguerInstituteofAutomaticControlUniversidadCarlosIIIdeMadridEngineering(LSR)RoboticsLab.D-80290Munich,GermanyDepto.deIngenieríadeSistemasyE-mail:mb@tum.de,M.Buss@ieee.org
5、Automática28911(Leganés)Madrid,SpainRafaelAracilE-mail:balaguer@ing.uc3m.esUniversidadPolitécnicadeMadridDpto.deAutomática,IngenieríaElectrónicaeInformáticaIndustrial28006Madrid,SpainE-mail:aracil@etsii.upm.esLibraryofCongressControlNumber:2007925206ISSNprintedition:1610-7438ISSNelectroni
6、cedition:1610-742XISBN-103-540-71363-8SpringerBerlinHeidelbergNewYorkISBN-13978-3-540-71363-0SpringerBerlinHeidelbergNewYorkThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,rec
7、itation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpring
