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1、SpringerTractsinAdvancedRoboticsVolume58Editors:BrunoSiciliano·OussamaKhatib·FransGroenTorstenKrögerOn-LineTrajectoryGenerationinRoboticSystemsBasicConceptsforInstantaneousReactionstoUnforeseen(Sensor)EventsABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitàdiNapo
2、liFedericoII,ViaClaudio21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,Universiteitvan
3、Amsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,E-mail:groen@science.uva.nlAuthorTorstenKrögerTechnischeUniversitätCarolo-WilhelminazuBraunschweigInstitutfürRobotikundProzessinformatikMühlenpfordtstraße23D-38106BraunschweigGermanyE-mail:t.kroeger@tu-bs.deISBN978-3-642-05174-6e-ISBN9
4、78-3-642-05175-3DOI10.1007/978-3-642-05175-3SpringerTractsinAdvancedRoboticsISSN1610-7438LibraryofCongressControlNumber:2009941046c2010Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftran
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6、beobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandtherefore
7、freeforgeneraluse.Typeset&CoverDesign:ScientificPublishingServicesPvt.Ltd.,Chennai,India.Printedinacid-freepaper543210springer.comEditorialAdvisoryBoardOliverBrock,TUBerlin,GermanyHermanBruyninckx,KULeuven,BelgiumRajaChatila,LAAS,FranceHenrikChristensen,GeorgiaTech,U
