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2nd IMA Conference on Mathematics of Robotics

  • Conference proceedings
  • © 2022

Overview

Editors:
  1. William Holderbaum

    1. Department of Engineering, Manchester Metropolitan University, Manchester, UK

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  2. J. M. Selig

    1. School of Engineering, London South Bank University, London, UK

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    You can also search for this editor in PubMed   Google Scholar

  • Includes the proceedings of the 2nd IMA Conference on Mathematics of Robotics (IMA 2020)
  • Highlights the mathematical depth and sophistication of techniques applicable to robotics
  • Gives a unique focus on mathematical aspects of robotics

Part of the book series: Springer Proceedings in Advanced Robotics (SPAR, volume 21)

Included in the following conference series:

Conference proceedings info: IMA 2020.

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Table of contents (16 papers)

  1. Front Matter

    Pages i-xx
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  2. Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-redundant Serial Manipulator

    • Abolfazl Zaraki, Yoshikatsu Hayashi, Daniel George, Harry Thorpe, Vincent Strong, Gisle-Andre Larsen et al.
    Pages 1-12

  3. Adapting Multi-agent Swarm Robotics to Achieve Synchronised Behaviour from Production Line Automata

    • Christopher Deeks
    Pages 13-24

  4. Synthesis of Planar Stiffness

    • J. M. Selig
    Pages 25-36

  5. Using Monodromy to Statistically Estimate the Number of Solutions

    • Jonathan D. Hauenstein, Samantha N. Sherman
    Pages 37-46

  6. On Orientation, Position, and Attitude Singularities of General 3R Chains

    • Bertold Bongardt, Andreas Müller
    Pages 47-56

  7. Combinatorics of a Discrete Trajectory Space for Robot Motion Planning

    • Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner
    Pages 57-65

  8. Active Matter as a Path Planning Interpreter

    • Vincent Strong, William Holderbaum, Yoshikatsu Hayashi
    Pages 66-77

  9. Linear Registration and Robot Motion Planning

    • Roberto Orozco, Krzysztof TchoÅ„
    Pages 78-88

  10. Flexible Placements of Graphs with Rotational Symmetry

    • Sean Dewar, Georg Grasegger, Jan Legerský
    Pages 89-97

  11. C-Space Analysis Using Tropical Geometry

    • Abhilash Nayak
    Pages 98-106

  12. A Remarkable 8R-Mechanism

    • Johanna Lercher, Daniel F. Scharler, Hans-Peter Schröcker
    Pages 107-114

  13. Calculating the Segmented Helix Formed by Repetitions of Identical Subunits

    • Robert L. Read
    Pages 115-124

  14. On the Geometry of Some Localisation Problems in Robotics

    • J. M. Selig
    Pages 125-136

  15. Zero-Sum Cycles in Flexible Non-triangular Polyhedra

    • Matteo Gallet, Georg Grasegger, Jan Legerský, Josef Schicho
    Pages 137-143

  16. On the Snappability and Singularity-Distance of Frameworks with Bars and Triangular Plates

    • G. Nawratil
    Pages 144-152

  17. Optimization of Cartesian Tasks with Configuration Selection

    • Martin G. Weiß
    Pages 153-160

  18. Back Matter

    Pages 161-161
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About this book

This book highlights the mathematical depth and sophistication of techniques used in different areas of robotics. Each chapter is a peer-reviewed version of a paper presented during the 2021 IMA Conference on the Mathematics of Robotics, held online September 8–10, 2021. The conference gave a platform to researchers with fundamental contributions and for academic and to share new ideas. The book illustrates some of the current interest in advanced mathematics and robotics such as algebraic geometry, tropical geometry, monodromy and homotopy continuation methods applied to areas such as kinematics, path planning, swam robotics,  dynamics and control.

It is hoped that the conference and this publications will stimulate further related mathematical research in robotics.


Editors and Affiliations

  • Department of Engineering, Manchester Metropolitan University, Manchester, UK

    William Holderbaum

  • School of Engineering, London South Bank University, London, UK

    J. M. Selig

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