Robotics: Science and Systems III

Table of Contents

Semantic Modeling of Places using Objects
Ananth Ranganathan and Frank Dellaert
Design of a Bio-inspired Dynamical Vertical Climbing Robot
Jonathan Clark, Daniel Goldman, Pei-Chun Lin, Goran Lynch, Tao Chen, Haldun Komsuoglu, Robert Full, and Daniel Koditschek
Online Learning for Offroad Robots: Spatial Label Propagation to Learn Long-Range Traversability
Raia Hadsell, Pierre Sermanet, Jan Ben, Ayse Erkan, Jeff Han, Urs Muller, and Yann LeCun
Composition of Vector Fields for Multi-Robot Manipulation via Caging
Jonathan Fink, Nathan Michael, and Vijay Kumar
Closed Loop Control of a Gravity-assisted Underactuated Robot Arm with Application to Aircraft Wing-
Binayak Roy and Harry Asada
Predicting Partial Paths from Planning Problem Parameters
Sarah Finney, Leslie Kaelbling, and Tomas Lozano-Perez
Emergent Task Allocation for Mobile Robots
Nuzhet Atay and Burchan Bayazit
Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots
Dongjun Lee
A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent
Giorgio Grisetti, Cyrill Stachniss, Slawomir Grzonka, and Wolfram Burgard
Spatially-Adaptive Learning Rates for Online Incremental SLAM
Edwin Olson, John Leonard, and Seth Teller
Adaptive Non-Stationary Kernel Regression for Terrain Modeling
Tobias Lang, Christian Plagemann, and Wolfram Burgard
Fishbone Model for Belt Object Deformation
Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai
Context and Feature Sensitive Re-sampling from Discrete Surface Measurements
Dave Cole and Paul Newman
Simultaneous Localisation and Mapping in Dynamic Environments (SLAMIDE) with Reversible Data Associa
Charles Bibby and Ian Reid
Sliding mode formation tracking control of a tractor and trailer-car system
Fabio Morbidi and Domenico Prattichizzo
Map-Based Precision Vehicle Localization in Urban Environments
Jesse Levinson, Michael Montemerlo, and Sebastian Thrun
Dense Mapping for Range Sensors: Efficient Algorithms and Sparse Representations
Manuel Yguel, Christopher Tay Meng Keat, Christophe Braillon, Christian Laugier, and Olivier Aycard
Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders
Christian Plagemann, Kristian Kersting, Patrick Pfaff, and Wolfram Burgard
Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments
Anastasios Mourikis, Nikolas Trawny, Stergios Roumeliotis, Andrew Johnson, and Larry Matthies
Optimal Kinodynamic Motion Planning for 2D Reconfiguration of Self-Reconfigurable Robots
John Reif and Sam Slee
A Discrete Geometric Optimal Control Framework for Systems with Symmetries
Marin Kobilarov, Mathieu Desbrun, Jerrold Marsden, and Gaurav Sukhatme
BS-SLAM: Shaping the World
Luis Pedraza, Gamini Dissanayake, Jaime Valls Miro, Diego Rodriguez-Losada, and Fernando Matia
An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact
Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, and Jeff Trinkle
Synthesis of Constrained nR Planar Robots to Reach Five Task Positions
Gim Song Soh and J. Michael McCarthy
Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains
Katsu Yamane and Yoshihiko Nakamura
CRF-Matching: Conditional Random Fields for Feature-Based Scan Matching
Fabio Ramos, Dieter Fox, and Hugh Durrant-Whyte
Control of Many Agents Using Few Instructions
Timothy Bretl
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing
Sami Haddadin, Alin Albu-Schäffer, and Gerd Hirzinger
Dimensionality Reduction Using Automatic Supervision for Vision-Based Terrain Learning
Anelia Angelova, Larry Matthies, Daniel Helmick, and Pietro Perona
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty
Ron Alterovitz, Thierry Simeon, and Ken Goldberg
A Fundamental Tradeoff between Performance and Sensitivity within Haptic Rendering
Paul Griffiths, Brent Gillespie, and Jim Freudenberg
Motion Strategies for Surveillance
Sourabh Bhattacharya, Salvatore Candido, and Seth Hutchinson
Learning omnidirectional path following using dimensionality reduction
J. Zico Kolter and Andrew Ng
A Fast and Practical Algorithm for Generalized Penetration Depth Computation
Liangjun Zhang, Young J. Kim, and Dinesh Manocha
Planning and Control of Meso-scale Manipulation Tasks with Uncertainties
Peng Cheng, David Cappelleri, Bogdan Gavrea, and Vijay Kumar
Data Association in O(n) for Divide and Conquer SLAM
Lina María Paz, José Guivant, Juan D. Tardós, and José Neira
An experimental study of exploiting multipath fading for robot communications
Magnus Lindhé, Karl Henrik Johansson, and Antonio Bicchi
Mapping Large Loops with a Single Hand-Held Camera
Laura A. Clemente, Andrew Davison, Ian Reid, José Neira, and Juan D. Tardós
Dynamic Coverage Verification in Mobile Sensor Networks Via Switched Higher Order Laplacians
Abubakr Muhammad and Ali Jadbabaie
Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning
Erion Plaku, Lydia Kavraki, and Moshe Vardi
Active Policy Learning for Robot Planning and Exploration under Uncertainty
Ruben Martinez-Cantin, Nando de Freitas, Arnaud Doucet, and Jose Castellanos
Workshop Summaries