Robotics: Science and Systems I

 Table of Contents

Preface

Sebastian Thrun ix 
 
Organizing Committee xi 
 
Program Committee xiii 
 
Interacting Markov Random Fields for Simultaneous Terrain Modeling and Obstacle Detection
Carl Wellington, Aaron C. Courville and Anthony Stentz 1 
 
Active Learning For Outdoor Obstacle Detection
Cristian Dima and Martial Hebert 9 
 
Dynamic Maps for Long-Term Operation of Mobile Service Robots
Peter Biber and Tom Duckett 17 
 
Star-shaped Roadmaps - A Deterministic Sampling Approach for Complete Motion Planning
Gokul Varadhan and Dinesh Manocha 25 
 
Complete Path Planning for Planar Closed Chains Among Point Obstacles
G. F. Liu and J. C. Trinkle 33 
 
Vision-based Distributed Coordination and Flocking of Multi-agent Systems
Nima Moshtagh, Ali Jadbabaie and Kostas Daniilidis 41 
 
Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions
Herbert G. Tanner and Amit Kumar 49 
 
Visually Navigating the RMS Titanic with SLAM Information Filters
Ryan Eustice, Hanumant Singh, John Leonard, Matthew Walter and Robert Ballard 57 
 
Information Gain-based Exploration Using Rao-Blackwellized Particle Filters
Cyrill Stachniss, Giorgio Grisetti and Wolfram Burgard 65 
 
Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)
Anastasios Mourikis and Stergios Roumeliotis 73 
 
Efficient Exploration With Latent Structure
Bethany R. Leffler, Michael L. Littman, Alexander Strehl and Thomas J. Walsh 81 
 
A Polynomial-time Algorithm to Design Push Plans for Sensorless Parts Sorting
Mark de Berg, Xavier Goaoc and A. Frank van der Stappen 89 
 
Efficient Motion Planning Based on Disassembly
Yuandong Yang and Oliver Brock 97 
 
Toward Optimal Configuration Space Sampling
Brendan Burns and Oliver Brock 105 
 
Natural Gait Generation Techniques for Principally Kinematic Mechanical Systems
Elie Shammas, Howie Choset and Alfred Rizzi 113 
 
A Two-Point Boundary-Value Approach for Planning Manipulation Tasks
Peng Song, Vijay Kumar and Jong-Shi Pang 121 
 
Dynamic Task Assignment in Robot Swarms
James McLurkin and Daniel Yamins 129 
 
Microrobotic Streak Seeding For Protein Crystal Growth
Atanas Georgiev, Peter K. Allen, Ting Song, Andrew Laine, William Edstrom and John Hunt 137 
 
Single Actuator Control Analysis of a Planar 3DOF Hopping Robot
Nicholas Cherouvim and Evangelos Papadopoulos 145 
 
Modeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering
Qi Luo and Jing Xiao 153 
 
Three Dimensional Stochastic Reconfiguration of Modular Robots
Paul White, Victor Zykov, Josh C. Bongard and Hod Lipson 161 
 
On Correlating Sonar Images
Richard J. Rikoski, J. Tory Cobb and Daniel C. Brown 169 
 
Square Root SAM
Frank Dellaert 177 
 
Topological Mapping with Multiple Visual Manifolds
Greg Grudic and Jane Mulligan 185 
 
Scaling Hard Vertical Surfaces with Compliant Microspine Arrays
Alan T. Asbeck, Sangbae Kim, William R. Provancher and Michele Lanzetta 193 
 
Multi-robot Simultaneous Localization and Mapping Using Particle Filters
Andrew Howard 201 
 
Data driven MCMC for Appearance-based Topological Mapping
Ananth Ranganathan and Frank Dellaert 209 

Robot Planning in Partially Observable Continuous Domains
Josep M. Porta, Matthijs T. J. Spaan and Nikos Vlassis 217 
 
Path Planning for Deformable Robots in Complex Environments
Russell Gayle, Paul Segars, Ming C. Lin and Dinesh Manocha 225 
 
Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes
Andrew M. Ladd and Lydia E. Kavraki 233 
 
BioCD : An efficient algorithm for self-collision and distance computation between highly articulated molecular models
Vicente Ruiz De Angulo, Juan Cortes and Thierry Simeon 241 
 
An RRT-Based Algorithm for Testing and Validating Multi-Robot Controllers
Jongwoo Kim, Joel M. Esposito and Vijay Kumar 249 
 
Roadmap Based Pursuit-Evasion and Collision Avoidance
Volkan Isler, Dengfeng Sun and Shankar Sastry 257 
 
Single-Cluster Spectral Graph Partitioning for Robotics Applications
Edwin Olson, Matthew Walter, Seth Teller and John Leonard 265 
 
Adaptive Road Following using Self-Supervised Learning and Reverse Optical Flow
David Lieb, Andrew Lookingbill and Sebastian Thrun 273 
 
ptimal Sensing Strategies for Mobile Robot Formulations: Resource-Constrained Localization
Anastasios Mourikis and Stergios Roumeliotis 281 
 
Discriminative Training of Kalman Filters
Pieter Abbeel, Adam Coates, Michael Montemerlo, Andrew Y. Ng and Sebastian Thrun 289 
 
Time Complexity of Sensor-Based Vehicle Routing
Vikrant Sharma, Michael Savchenko, Emilio Frazzoli and Petros G. Voulgaris 297 
 
The Stability of Point-mass Hoppers with Varying Morphology and Minimal Feedback
Justin Seipel 305 
 
Optimal Design of Robots
Jean-Pierre Merlet 311 
 
Biologically Inspired Miniature Water Strider Robot
Steve H. Suhr, Yun Seong Song, Sang Jun Lee and Metin Sitti 319 
 
Micro and Nanorobotic Assembly Using Dielectrophoresis
Arunkumar Subramanian, Barmeshwar Vikramaditya, Lixin Dong, Dominik Bell and Bradley J. Nelson 327 
 
Blind Swarms for Coverage in 2-D
Vin de Silva, Robert Ghrist and Abudakr Muhammad 335 
 
Auction-Based Multi-Robot Routing
Michail G. Lagoudakis, Evangelos Markakis, David Kempe, Pinar Keskinocak, Anton Kleywegt, Sven Koenig, Craig Tovey, Adam Meyerson and Sonal Jain 343 
 
Shape, Motion, and Parameter Estimation of Flexible Space Structures using Laser Rangefinders
Matthew D. Lichter, Steven Dubowsky, Hiroshi Ueno and Shinji Mitani 351 
 
Model-Based Error Correction for Flexible Robotic Surgical Instruments
Ryan A. Beasley and Robert D. Howe 359 
 
Data Structure for Efficient Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert 365 
 
σMCL: Monte-Carlo Localization for Mobile Robots with Stereo Vision
Pantelis Elinas and James J. Little