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This bookcontains the proceedings of the 10th FSR, (Field and Service Robotics) which isthe leading single-track conference on applications of robotics in challengingenvironments. The 10th FSR was held in Toronto, Canada from 23-26June 2015. The book contains 42full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial,Underground, and Systems. The goal ofthe book and the conference is to report and encourage the development andexperimental evaluation of field and service robots, and to generate a vibrantexchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate incomplex and dynamic environments: on theground (Earth or other planets), under the ground, underwater, in the air or inspace. Service robots are those thatwork closely with humans to help them with their lives. The first FSR was held in Canberra,Australia, in 1997. Since that firstmeeting, FSR has been held roughly every two years, cycling through Asia,Americas, Europe.