The trend in the evolution of robotic systems is that the number
of degrees of freedom increases. This is visible both in robot
manipulator design and in the shift of focus from single to
multi-robot systems. Following the principles of evolution in
nature, one may infer that adding degrees of freedom to robot
systems design is beneficial. However, since nature did not select
snake-like bodies for all creatures, it is reasonable to expect the
presence of a certain selection pressure on the number of degrees
of freedom. Thus, understanding costs and benefits of multiple
degrees of freedom, especially those that create redundancy, is a
fundamental problem in the field of robotics.
This volume is mostly based on the works presented at the
workshop on Redundancy in Robot Manipulators and Multi-Robot
Systems at the IEEE/RSJ International Conference on Intelligent
Robots and Systems - IROS 2011. The workshop was envisioned as a
dialog between researchers from two separate, but obviously related
fields of robotics: one that deals with systems having multiple
degrees of freedom, including redundant robot manipulators, and the
other that deals with multirobot systems. The volume consists of
twelve chapters, each representing one of the two fields.
General
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