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1、SpringerTractsinAdvancedRoboticsVolume70Editors:BrunoSiciliano·OussamaKhatib·FransGroenCédricPradalier,RolandSiegwart,andGerhardHirzinger(Eds.)RoboticsResearchThe14thInternationalSymposiumISRRABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSiste
2、mistica,UniversitàdiNapoliFedericoII,ViaClaudio21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.edu
3、ProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,E-mail:groen@science.uva.nlEditorsDr.CédricPradalierProf.Dr.GerhardHirzingerETHZürichGermanAerospaceCenter(DLR)InstituteofRoboticsand
4、IntelligentSystemsInstituteofRoboticsandMechatronicsAutonomousSystemsLabMünchnerStrasse20Tannenstrasse382234Oberpfaffenhofen-Wessling8092ZürichGermanySwitzerlandE-mail:gerd.hirzinger@dlr.deE-mail:cedric.pradalier@mavt.ethz.chProf.Dr.RolandSiegwartETH
5、ZürichInstituteofRoboticsandIntelligentSystemsAutonomousSystemsLabTannenstrasse38092ZürichSwitzerlandE-mail:rsiegwart@ethz.chISBN978-3-642-19456-6e-ISBN978-3-642-19457-3DOI10.1007/978-3-642-19457-3SpringerTractsinAdvancedRoboticsISSN1610-7438Libraryo
6、fCongressControlNumber:2011924480c2011Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadca
7、sting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSprin
8、ger.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandreg
