RSS 2012

60 papers

Rigidity Maintenance Control for Multi-Robot Systems

Daniel Zelazo, Antonio Franchi, Frank Allgöwer, Heinrich Bülthoff, Paolo Robuffo Giordano

Hierarchical Motion Planning in Topological Representations

Dmitry Zarubin, Vladimir Ivan, Marc Toussaint, Taku Komura, Sethu Vijayakumar

Probabilistic Temporal Logic for Motion Planning with Resource Threshold Constraints

Chanyeol Yoo, Robert Fitch, Salah Sukkarieh

Optimal Control with Weighted Average Costs and Temporal Logic Specifications

Eric Wolff, Ufuk Topcu, Richard Murray

Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing

Ronald Wilcox, Stefanos Nikolaidis, Julie Shah

Probabilistic Modeling of Human Movements for Intention Inference

Zhikun Wang, Marc Deisenroth, Heni Ben Amor, David Vogt, Bernhard Schölkopf

On the Structure of Nonlinearities in Pose Graph SLAM

Heng Wang, Gibson Hu, Shoudong Huang, Gamini Dissanayake

Efficiently finding optimal winding-constrained loops in the plane

Paul Vernaza, Venkatraman Narayanan, Maxim Likhachev

Toward Information Theoretic Human-Robot Dialog

Stefanie Tellex, Pratiksha Thaker, Robin Deits, Thomas Kollar, Nicholas Roy

Parsing Indoor Scenes Using RGB-D Imagery

Camillo Taylor, Anthony Cowley

Experiments with Balancing on Irregular Terrains using the Dreamer Mobile Humanoid Robot

Luis Sentis, Josh Petersen, Roland Philippsen

Development of a Testbed for Robotic Neuromuscular Controllers

Alexander Schepelmann, Hartmut Geyer, Michael Taylor

Guaranteeing High-Level Behaviors while Exploring Partially Known Maps

Shahar Sarid, Bingxin Xu, Hadas Kress-Gazit

Tendon-Driven Variable Impedance Control Using Reinforcement Learning

Eric Rombokas, Mark Malhotra, Evangelos Theodorou, Yoky Matsuoka, Emo Todorov

Failure anticipation in pursuit-evasion

Cyril Robin, Simon Lacroix

On Stochastic Optimal Control and Reinforcement Learning by Approximate Inference

Konrad Rawlik, Marc Toussaint, Sethu Vijayakumar

Walking and running on yielding and fluidizing ground

Feifei Qian, Tingnan Zhang, Chen Li, Aaron Hoover, Pierangelo Masarati

E-Graphs: Bootstrapping Planning with Experience Graphs

Michael Phillips, Benjamin Cohen, Sachin Chitta, Maxim Likhachev

Affine trajectory deformation for redundant manipulators

Quang-Cuong Pham, Yoshihiko Nakamura

Turning-rate Selective Control : A New Method for Independent Control of Stress-engineered MEMS Microrobots

Igor Paprotny, Christopher Levey, Paul Wright, Bruce Donald

Inference on networks of mixtures for robust robot mapping

Edwin Olson, Pratik Agarwal

Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation

Jun Nakanishi, Sethu Vijayakumar

Visual Route Recognition with a Handful of Bits

Michael Milford

Robust Navigation Execution by Planning in Belief Space

Bhaskara Marthi

Towards Persistent Localization and Mapping with a Continuous Appearance-based Topology

William Maddern, Michael Milford, Gordon Wyeth

Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor

Ilya Lysenkov, victor Eruhimov, Gary Bradski

The Banana Distribution is Gaussian: A Localization Study with Exponential Coordinates

Andrew Long, Kevin Wolfe, Michael Mashner, Gregory Chirikjian

A Distributable and Computation-flexible Assignment Algorithm: From Local Task Swapping to Global Optimality

Lantao Liu, Dylan Shell

Practical Route Planning Under Delay Uncertainty: Stochastic Shortest Path Queries

Sejoon Lim, Christian Sommer, Evdokia Nikolova, Daniela Rus

Optimization-Based Estimator Design for Vision-Aided Inertial Navigation

Mingyang Li, Anastasios Mourikis

Robust Loop Closing Over Time

Yasir Latif, Cesar Cadena Lerma, José Neira

CompAct Arm™: a Compliant Manipulator with Intrinsic Variable Physical Damping

Matteo Laffranchi, Nikos Tsagarakis, Darwin Caldwell

Towards A Swarm of Agile Micro Quadrotors

Aleksandr Kushleyev, Vijay Kumar, Daniel Mellinger

Time-Optimal Trajectory Generation for Path Following with Bounded Acceleration and Velocity

Tobias Kunz, Mike Stilman

Variational Bayesian Optimization for Runtime Risk-Sensitive Control

Scott Kuindersma, Roderic Grupen, Andrew Barto

Feature-Based Prediction of Trajectories for Socially Compliant Navigation

Markus Kuderer, Henrik Kretzschmar, Christoph Sprunk, Wolfram Burgard

Multi-stage micro rockets for robotic insects

Mirko Kovac, Maria Bendana, Rohit Krishnan, Jessica Burton, Michael Smith

Robust Object Grasping using Force Compliant Motion Primitives

Moslem Kazemi, Jean-Sebastien Valois, J. Andrew Bagnell, Nancy Pollard

Distributed Approximation of Joint Measurement Distributions Using Mixtures of Gaussians

Brian Julian, Stephen Smith, Daniela Rus

Nonparametric Bayesian Models for Unsupervised Scene Analysis and Reconstruction

Dominik Joho, Gian Diego Tipaldi, Nikolas Engelhard, Cyrill Stachniss, Wolfram Burgard

Minimal Coordinate Formulation of Contact Dynamics in Operational Space

Abhinandan Jain, Cory Crean, Calvin Kuo, Hubertus Von Bremen, Steven Myint

Asymptotically-optimal Path Planning on Manifolds

Leonard Jaillet, Josep Porta

Modeling and Prediction of Pedestrian Behavior based on the Sub-goal Concept

Tetsushi Ikeda, Yoshihiro Chigodo, Daniel Rea, Francesco Zanlungo, Masahiro Shiomi

Hybrid Operational Space Control for Compliant Legged Systems

Marco Hutter, Mark Hoepflinger, Christian Gehring, Michael Bloesch, C. David Remy

Recognition, Prediction, and Planning for Assisted Teleoperation of Freeform Tasks

Kris Hauser

Real-Time Inverse Dynamics Learning for Musculoskeletal Robots based on Echo State Gaussian Process Regression

Christoph Hartmann, Joschka Boedecker, Oliver Obst, Shuhei Ikemoto, Minoru Asada

What Types of Interactions do Bio-Inspired Robot Swarms and Flocks Afford a Human?

Michael Goodrich, Sean Kerman, Brian Pendleton, P.B. Sujit

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

Guido Gioioso, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo

What's in the Bag: A Distributed Approach to 3D Shape Duplication with Modular Robots

Kyle Gilpin, Daniela Rus

Reducing Conservativeness in Safety Guarantees by Learning Disturbances Online: Iterated Guaranteed Safe Online Learning

Jeremy Gillula, Claire Tomlin

Formalizing Assistive Teleoperation

Anca Dragan, Siddhartha Srinivasa

FFT-based Terrain Segmentation for Underwater Mapping

Bertrand Douillard, Navid Nourani-Vatani, Matthew Johnson-Roberson, Stefan Williams, Chris Roman

Physics-Based Grasp Planning Through Clutter

Mehmet Dogar, Kaijen Hsiao, Matei Ciocarlie, Siddhartha Srinivasa

Contextual Sequence Prediction with Application to Control Library Optimization

Debadeepta Dey, Tian Yu Liu, Martial Hebert, J. Andrew Bagnell

M-Width: Stability and Accuracy of Haptic Rendering of Virtual Mass

Nick Colonnese, Allison Okamura

Colour-Consistent Structure-from-Motion Models using Underwater Imagery

Mitch Bryson, Matthew Johnson-Roberson, Oscar Pizarro, Stefan Williams

Extrinsic Calibration from Per-Sensor Egomotion

Jonathan Brookshire, Seth Teller

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU

Michael Bloesch, Marco Hutter, Mark Hoepflinger, Stefan Leutenegger, Christian Gehring

Fast Weighted Exponential Product Rules for Robust General Multi-Robot Data Fusion

Nisar Ahmed, Jonathan Schoenberg, Mark Campbell

Estimating Human Dynamics On-the-fly Using Monocular Video For Pose Estimation

Priyanshu Agarwal, Suren Kumar, Julian Ryde, Jason Corso, Venkat Krovi