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1、SpringerTractsinAdvancedRoboticsVolume30Editors:BrunoSiciliano·OussamaKhatib·FransGroenDavideBrugali(Ed.)SoftwareEngineeringforExperimentalRoboticsWith204FiguresProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,Universit`adegliStudidiNapoliFede-ricoII,ViaClaudio21,80125Napo
2、li,Italy,email:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,email:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan403,1098SJAmsterdam,TheNether
3、lands,email:groen@science.uva.nlEditorProf.DavideBrugaliUniversit`adegliStudidiBergamoDipartimentodiIngegneriaInformaticaeMetodiMatematicivialeMarconi524044DalmineBGItalybrugali@unibg.itISSNprintedition:1610-7438ISSNelectronicedition:1610-742XISBN-103-540-68949-4SpringerBerlinHeidelberg
4、NewYorkISBN-13978-3-540-68949-2SpringerBerlinHeidelbergNewYorkLibraryofCongressControlNumber:2006938802Thisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcastin
5、g,reproductiononmicrofilmorinotherways,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliabletoprosecutionunderGe
6、rmanCopyrightLaw.SpringerisapartofSpringerScience+BusinessMediaspringer.com©Springer-VerlagBerlinHeidelberg2007PrintedinGermanyTheuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromthere
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