RSS 2016

47 papers

Time and Energy Optimal Path Planning in General Flows

Dhanushka Kularatne, Subhrajit Bhattacharya, M. Ani Hsieh

Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces

Zita Marinho, Byron Boots, Anca Dragan, Arunkumar Byravan, Geoffrey J. Gordon

Task Variant Allocation in Distributed Robotics

José Cano, David R. White, Alejandro Bordallo, Ciaran McCreesh, Patrick Prosser

Street-View Change Detection with Deconvolutional Networks

Pablo F. Alcantarilla, Simon Stent, German Ros, Roberto Arroyo, Riccardo Gherardi

Robust Multimodal Sequence-Based Loop Closure Detection via Structured Sparsity

Hao Zhang, Fei Han, Hua Wang

Vehicle Detection from 3D Lidar Using Fully Convolutional Network

Bo Li, Tianlei Zhang, Tian Xia

Multi-modal Auto-Encoders as Joint Estimators for Robotics Scene Understanding

Cesar Cadena, Anthony Dick, Ian D. Reid

Situated Language Understanding with Human-like and Visualization-Based Transparency

Leah Perlmutter, Eric Kernfeld, Maya Cakmak

Representing and Learning Complex Object Interactions

Yilun Zhou, George Konidaris

Asking for Help with the Right Question by Predicting Human Visual Performance

Hong Cai, Yasamin Mostofi

Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators

Rohan Paul, Jacob Arkin, Nicholas Roy, Thomas M. Howard

Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems

Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling

Integrated force and distance sensing using elastomer-embedded commodity proximity sensors

Radhen Patel, Nikolaus Correll

Understanding Hand-Object Manipulation with Grasp Types and Object Attributes

Minjie Cai, Kris M. Kitani, Yoichi Sato

Combined Optimization and Reinforcement Learning for Manipulation Skills

Peter Englert, Marc Toussaint

Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms

Rick Zhang, Federico Rossi, Marco Pavone

Planar Time Optimal Paths for Non-Symmetric Vehicles in Constant Flows

Bilal Hammoud, Elie Shammas

A Novel Relationship Between Dynamics and Complexity in Multi-agent Collision Avoidance

Jeffrey Kane Johnson

Planning for Autonomous Cars that Leverage Effects on Human Actions

Dorsa Sadigh, Shankar Sastry, Sanjit A. Seshia, Anca D. Dragan

Mathematical Tools for Analysis, Simulation and Design of Robotic Angular Encoders

Peter G. Cramer

Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups

Taosha Fan, Todd Murphey

Robotic Assistance in Coordination of Patient Care

Matthew Gombolay, Xi Jessie Yang, Brad Hayes, Nicole Seo, Zixi Liu

An End-To-End System for Accomplishing Tasks with Modular Robots

Gangyuan Jing, Tarik Tosun, Mark Yim, Hadas Kress-Gazit

A Probabilistic Framework for Real-time 3D Segmentation using Spatial, Temporal, and Semantic Cues

David Held, Devin Guillory, Brice Rebsamen, Sebastian Thrun, Silvio Savarese

Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances

Venkatraman Narayanan, Maxim Likhachev

A Cartesian 6-DoF Gaze Controller for Humanoid Robots

Alessandro Roncone, Ugo Pattacini, Giorgio Metta, Lorenzo Natale

Seeing Glassware: from Edge Detection to Pose Estimation and Shape Recovery

Cody J. Phillips, Matthieu Lecce, Kostas Daniilidis

Shape-Based Compliance in Locomotion

Matt Travers, Julian Whitman, Perrin Schiebel, Dan Goldman, Howie Choset

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty

Seyed Sina Mirrazavi Salehian, Nadia Figueroa, Aude Billard

Closed Loop Control of a Tethered Magnetic Capsule Endoscope

Addisu Z. Taddese, Piotr R. Slawinski, Keith L. Obstein, Pietro Valdastri

Safe Control under Uncertainty with Probabilistic Signal Temporal Logic

Dorsa Sadigh, Ashish Kapoor

Recursive Decentralized Collaborative Localization for Sparsely Communicating Robots

Lukas Luft, Tobias Schubert, Stergios I. Roumeliotis, Wolfram Burgard

Set-labelled filters and sensor transformations

Fatemeh Zahra Saberifar, Shervin Ghasemlou, Jason M. O'Kane, Dylan A. Shell

Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems

Qianli Ma, Zachariah Goh, Gregory S. Chirikjian

Estimating SE(3) elements using a dual quaternion based linear Kalman filter

Rangaprasad Arun Srivatsan, Gillian T. Rosen, D. Feroze Naina Mohamed, Howie Choset

Geometric Swimming on a Granular Surface

Jin Dai, Hossein Faraji, Chaohui Gong, Ross L. Hatton, Daniel I. Goldman

Design and Implementation of a Novel Robot Fish with Active and Compliant Propulsion Mechanism

Yong Zhong, Ruxu Du

Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies

Ye Zhao, Benito Fernandez, Luis Sentis

Synergistic Design of a Bio-Inspired Micro Aerial Vehicle with Articulated Wings

Jonathan Hoff, Alireza Ramezani, Soon-Jo Chung, Seth Hutchinson

Mechanical Antagonism in Legged Robots

Andy Abate, Jonathan W. Hurst, Ross L. Hatton

'Body-in-the-Loop' Optimization of Assistive Robotic Devices: A Validation Study

Jeffrey R Koller, Deanna H Gates, Daniel P Ferris, C David Remy

Simplifying Gait Design via Shape Basis Optimization

Chaohui Gong, Daniel I. Goldman, Howie Choset

An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots

Debora Clever, Katja Mombaur

Robot Motion Planning on a Chip

Sean Murray, Will Floyd-Jones, Ying Qi, Daniel Sorin, George Konidaris

New perspective on sampling-based motion planning via random geometric graphs

Kiril Solovey, Oren Salzman, Dan Halperin

Incremental Task and Motion Planning: A Constraint-Based Approach

Neil T. Dantam, Zachary K. Kingston, Swarat Chaudhuri, Lydia E. Kavraki

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs

Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots