RSS 2007

42 papers

Workshop Summaries

Active Policy Learning for Robot Planning and Exploration under Uncertainty

Ruben Martinez-Cantin, Nando de Freitas, Arnaud Doucet, and Jose Castellanos

Discrete Search Leading Continuous Exploration for Kinodynamic Motion Planning

Erion Plaku, Lydia Kavraki, and Moshe Vardi

Dynamic Coverage Verification in Mobile Sensor Networks Via Switched Higher Order Laplacians

Abubakr Muhammad and Ali Jadbabaie

Mapping Large Loops with a Single Hand-Held Camera

Laura A. Clemente, Andrew Davison, Ian Reid, José Neira, and Juan D. Tardós

An experimental study of exploiting multipath fading for robot communications

Magnus Lindhé, Karl Henrik Johansson, and Antonio Bicchi

Data Association in O(n) for Divide and Conquer SLAM

Lina María Paz, José Guivant, Juan D. Tardós, and José Neira

Planning and Control of Meso-scale Manipulation Tasks with Uncertainties

Peng CHENG, David Cappelleri, Bogdan Gavrea, and Vijay Kumar

A Fast and Practical Algorithm for Generalized Penetration Depth Computation

Liangjun Zhang, Young J. Kim, and Dinesh Manocha

Learning omnidirectional path following using dimensionality reduction

J. Zico Kolter and Andrew Ng

Motion Strategies for Surveillance

Sourabh Bhattacharya, Salvatore Candido, and Seth Hutchinson

A Fundamental Tradeoff between Performance and Sensitivity within Haptic Rendering

Paul Griffiths, Brent Gillespie, and Jim Freudenberg

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty

Ron Alterovitz, Thierry Simeon, and Ken Goldberg

Dimensionality Reduction Using Automatic Supervision for Vision-Based Terrain Learning

Anelia Angelova, Larry Matthies, Daniel Helmick, and Pietro Perona

Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing

Sami Haddadin, Alin Albu-Schäffer, and Gerd Hirzinger

Control of Many Agents Using Few Instructions

Timothy Bretl

CRF-Matching: Conditional Random Fields for Feature-Based Scan Matching

Fabio Ramos, Dieter Fox, and Hugh Durrant-Whyte

Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains

Katsu Yamane and Yoshihiko Nakamura

Synthesis of Constrained nR Planar Robots to Reach Five Task Positions

Gim Song Soh and J. Michael McCarthy

An Implicit Time-Stepping Method for Multibody Systems with Intermittent Contact

Nilanjan Chakraborty, Stephen Berard, Srinivas Akella, and Jeff Trinkle

BS-SLAM: Shaping the World

Luis Pedraza, Gamini Dissanayake, Jaime Valls Miro, Diego Rodriguez-Losada, and Fernando Matia

A Discrete Geometric Optimal Control Framework for Systems with Symmetries

Marin Kobilarov, Mathieu Desbrun, Jerrold Marsden, and Gaurav Sukhatme

Optimal Kinodynamic Motion Planning for 2D Reconfiguration of Self-Reconfigurable Robots

John Reif and Sam Slee

Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments

Anastasios Mourikis, Nikolas Trawny, Stergios Roumeliotis, Andrew Johnson, and Larry Matthies

Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders

Christian Plagemann, Kristian Kersting, Patrick Pfaff, and Wolfram Burgard

Dense Mapping for Range Sensors: Efficient Algorithms and Sparse Representations

Manuel Yguel, Christopher Tay Meng Keat, Christophe Braillon, Christian Laugier, and Olivier Aycard

Map-Based Precision Vehicle Localization in Urban Environments

Jesse Levinson, Michael Montemerlo, and Sebastian Thrun

Sliding mode formation tracking control of a tractor and trailer-car system

Fabio Morbidi and Domenico Prattichizzo

Simultaneous Localisation and Mapping in Dynamic Environments (SLAMIDE) with Reversible Data Associa

Charles Bibby and Ian Reid

Context and Feature Sensitive Re-sampling from Discrete Surface Measurements

Dave Cole and Paul Newman

Fishbone Model for Belt Object Deformation

Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai

Adaptive Non-Stationary Kernel Regression for Terrain Modeling

Tobias Lang, Christian Plagemann, and Wolfram Burgard

Spatially-Adaptive Learning Rates for Online Incremental SLAM

Edwin Olson, John Leonard, and Seth Teller

A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent

Giorgio Grisetti, Cyrill Stachniss, Slawomir Grzonka, and Wolfram Burgard

Passivity-Based Switching Control for Stabilization of Wheeled Mobile Robots

Dongjun Lee

Emergent Task Allocation for Mobile Robots

Nuzhet Atay and Burchan Bayazit

Predicting Partial Paths from Planning Problem Parameters

Sarah Finney, Leslie Kaelbling, and Tomas Lozano-Perez

Closed Loop Control of a Gravity-assisted Underactuated Robot Arm with Application to Aircraft Wing-

Binayak Roy and Harry Asada

Composition of Vector Fields for Multi-Robot Manipulation via Caging

Jonathan Fink, Nathan Michael, and Vijay Kumar

Online Learning for Offroad Robots: Spatial Label Propagation to Learn Long-Range Traversability

Raia Hadsell, Pierre Sermanet, Jan Ben, Ayse Erkan, Jeff Han

Design of a Bio-inspired Dynamical Vertical Climbing Robot

Jonathan Clark, Daniel Goldman, Pei-Chun Lin, Goran Lynch, Tao Chen

Semantic Modeling of Places using Objects

Ananth Ranganathan and Frank Dellaert