RSS 2013

55 papers

A Model of Distributional Handing Interaction for a Mobile Robot

Chao Shi, Masahiro Shiomi, Christian Smith, Takayuki Kanda, Hiroshi Ishiguro

Real-Time EMG Driven Lower Limb Actuated Orthosis for Assistance As Needed Movement Strategy

Walid Hassani, Samer Mohammed, Yacine Amirat

Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information

Benjamin Charrow, Vijay Kumar, Nathan Michael

Kinodynamic Planning in the Configuration Space via Admissible Velocity Propagation

Quang-Cuong Pham, Stéphane Caron, Yoshihiko Nakamura

Sampling-based Motion Planning for Robotic Information Gathering

Geoffrey Hollinger, Gaurav Sukhatme

Adaptive Estimation of Measurement Bias in Three-Dimensional Field Sensors with Angular Rate Sensors: Theory and Comparative Experimental Evaluation

Giancarlo Troni, Louis Whitcomb

Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

Matthew Gombolay, Ronald Wilcox, Julie Shah

Incremental Semantically Grounded Learning from Demonstration

Scott Niekum, Sachin Chitta, Andrew Barto, Bhaskara Marthi, Sarah Osentoski

Learning to Plan for Constrained Manipulation from Demonstrations

Phillips Mike, Victor Hwang, Sachin Chitta, Maxim Likhachev

A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects

Soonkyum Kim, Subhrajit Bhattacharya, Hordur Heidarsson, Gaurav Sukhatme, Vijay Kumar

A Control Framework for Tactile Servoing

Qiang Li, Carsten Schürmann, Robert Haschke, Helge Ritter

Realtime Registration-Based Tracking via Approximate Nearest Neighbour Search

Travis Dick, Camilo Perez, Martin Jagersand, Azad Shademan

Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures

Anirudha Majumdar, Ram Vasudevan, Mark Tobenkin, Russ Tedrake

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

Lukas Polok, Viorela Ila, Marek Solony, Pavel Smrz, Pavel Zemcik

Toward a Platform of Human-Like Fingertip Model in Haptic Environment for Studying Sliding Tactile Mechanism

Anh-Van Ho, Shinichi Hirai

Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

Neil Dantam, Ayonga Hereid, Aaron Ames, Mike Stilman

Perceiving, Learning, and Exploiting Object Affordances for Autonomous Pile Manipulation

Dov Katz, Arun Venkatraman, Moslem Kazemi, Drew Bagnell, Anthony Stentz

Maximum Mean Discrepancy Imitation Learning

Beomjoon Kim, Joelle Pineau

Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization

Stefan Leutenegger, Paul Furgale, Vincent Rabaud, Margarita Chli, Kurt Konolige

Grasp Moduli Spaces

Florian T. Pokorny, Kaiyu Hang, Danica Kragic

Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions

Erik Bylow, Jürgen Sturm, Christian Kerl, Fredrik Kahl, Daniel Cremers

Infinite Latent Conditional Random Fields for Modeling Environments through Humans

Yun Jiang, Ashutosh Saxena

Optimal Market-based Multi-Robot Task Allocation via Strategic Pricing

Lantao Liu, Dylan Shell

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor

Shaojie Shen, Yash Mulgaonkar, Nathan Michael, Vijay Kumar

Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization

John Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow

Goal Assignment and Trajectory Planning for Large Teams of Aerial Robots

Matthew Turpin, Kartik Mohta, Nathan Michael, Vijay Kumar

Automatic Online Calibration of Cameras and Lasers

Jesse Levinson, Sebastian Thrun

Motion Planning for 6-D Manipulation with Aerial Towed-cable Systems

Montserrat Manubens, Didier Devaurs, Lluis Ros, Juan Cortés

Unsupervised Intrinsic Calibration of Depth Sensors via SLAM

Alex Teichman, Stephen Miller, Sebastian Thrun

Modeling and Evaluating Narrative Gestures for Humanlike Robots

Chien-Ming Huang, Bilge Mutlu

Bayesian Fusion for Multi-Modal Aerial Images

Alistair Reid, Fabio Ramos, Salah Sukkarieh

Generating Legible Motion

Anca Dragan, Siddhartha Srinivasa

Sorry Dave, I'm Afraid I Can't Do That: Explaining Unachievable Robot Tasks Using Natural Language

Vasumathi Raman, Constantine Lignos, Cameron Finucane, Kenton C. T. Lee, Mitch Marcus

Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds

Kris Hauser

Exploiting Urban Scenes for Vision-aided Inertial Navigation

Dimitrios Kottas, Stergios Roumeliotis

Gaussian Process-Based Decentralized Data Fusion and Active Sensing for Mobility-on-Demand System

Jie Chen, Kian Hsiang Low, Colin Keng-Yan Tan

Active Bayesian Perception for Simultaneous Object Localization and Identification

Nathan Lepora, Uriel Martinez-Hernandez, Tony Prescott

Integrated Perception and Planning in the Continuous Space: A POMDP Approach

Haoyu Bai, David Hsu, Wee Sun Lee

Minimum Constraint Displacement Motion Planning

Kris Hauser

The Influence of Motion Path and Assembly Sequence on Stability of Assemblies

Sourav Rakshit, Srinivas Akella

Pregrasp Manipulation as Trajectory Optimization

Jennifer King, Matthew Klingensmith, Christopher Dellin, Mehmet Dogar, Prasanna Velagapudi

On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles

Stefan Mitsch, Khalil Ghorbal, André Platzer

Receding Horizon Control in Dynamic Environments from Temporal Logic Specifications

Alphan Ulusoy, Michael Marrazzo, Calin Belta

Deep Learning for Detecting Robotic Grasps

Ian Lenz, Honglak Lee, Ashutosh Saxena

Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots

Koushil Sreenath, Vijay Kumar

An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment

Jeffrey Walls, Ryan Eustice

Metastability for High-Dimensional Walking Systems on Stochastically Rough Terrain

Mehdi Benallegue, Jean-Paul Laumond

Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators

Jorhabib Eljaik, Zhibin Li, Marco Randazzo, Alberto Parmiggiani, Giorgio Metta

Online Coverage by a Tethered Autonomous Mobile Robot in Planar Unknown Environments

Iddo Shnaps, Elon Rimon

Anticipating Human Activities using Object Affordances for Reactive Robotic Response

Hema Koppula, Ashutosh Saxena

Toward Interactive Grounded Language Acqusition

Thomas Kollar, Jayant Krishnamurthy, Grant Strimel

Learning Semantic Maps from Natural Language Descriptions

Matt Walter, Sachithra Hemachandra, Bianca Homberg, Stefanie Tellex, Seth Teller

High Altitude Stereo Visual Odometry

Michael Warren, Ben Upcroft

Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems

Meysam Basiri, Felix Schill, Dario Floreano, Pedro Lima

Multi-Hypothesis Social Grouping and Tracking for Mobile Robots

Matthias Luber, Kai Arras