Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II,
Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@unina.it
Professor Oussama Khatib, Artificial Intelligence Laboratory, Department of Computer Science,
Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@cs.stanford.edu
Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403,
1098 SJ Amsterdam, The Netherlands, E-mail: groen@science.uva.nl
Editors
Dr. Martin Buehler
iRobot Corporation
8 Crosby Drive, M/S 8-1
Bedford, MA 01730
USA
E-mail: mbuehler@irobot.com
Dr. Karl Iagnemma
Department of Mechanical Engineering
Massachusetts Institute of Technology
77 Massachusetts Avenue
Cambridge, MA 02139
USA
E-mail: kdi@mit.edu
Prof. Sanjiv Singh
Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh, PA 15213
USA
E-mail: ssingh@ri.cmu.edu
ISBN 978-3-642-03990-4 e-ISBN 978-3-642-03991-1
DOI 10.1007/978-3-642-03991-1
Springer Tracts in Advanced Robotics ISSN 1610-7438
Library of Congress Control Number: 2009934347
c
2009 Springer-Verlag Berlin Heidelberg
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