Technical Program for Monday October 26, 2020

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MoOS Room T24
Opening Opening Ceremony
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
08:45-09:00, Paper MoOS.1 
IROS Welcome Session

Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
O'Malley, MarciaRice University
 
MoPL Room T25
Plenary 1 Plenary session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
09:00-10:00, Paper MoPL.1 
Robotics and AI for the Fashion Industry

Kragic, DanicaKTH
 
MoAT1 Room T1
Award Session 1: Finalists for Best Paper Award Regular session
Chair: Laschi, CeciliaScuola Superiore Sant'Anna
 
10:00-10:15, Paper MoAT1.1 
Graph-Based Hierarchical Knowledge Representation for Robot Task Transfer from Virtual to Physical World
 Video Attachment

Zhang, ZhenliangTencent
 
10:15-10:30, Paper MoAT1.2 
An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot
 Video Attachment

Wu, JiahaoThe Chinese University of Hong Kong
Li, GangJohns Hopkins University
Urias, MullerWilmer Eye Institute
Patel, NiravkumarJohns Hopkins University
Liu, YunhuiChinese University of Hong Kong
Gehlbach, PeterJohns Hopkins Medical Institute
Taylor, Russell H.The Johns Hopkins University
Iordachita, Ioan IulianJohns Hopkins University
 
10:30-10:45, Paper MoAT1.3 
Optimization-Based Hierarchical Motion Planning for Autonomous Racing
 Video Attachment

Vazquez, JoseETH Zürich
Bruehlmeier, MariusETH Zürich
Liniger, AlexanderETH Zurich
Rupenyan, AlisaETH Zürich
Lygeros, JohnETH Zurich
 
10:45-11:00, Paper MoAT1.4 
SwingBot: Learning Physical Features from In-Hand Tactile Exploration for Dynamic Swing-Up Manipulation
 Video Attachment

Wang, ChenStanford University
Wang, ShaoxiongMIT
Romero, BrandenMassachusetts Institute of Technology
Veiga, Filipe FernandesMIT
Adelson, EdwardMIT
 
MoAT2 Room T2
Award Session 2: Finalists for Best Student Paper Regular session
Chair: Laschi, CeciliaScuola Superiore Sant'Anna
 
10:00-10:15, Paper MoAT2.1 
Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations
 Video Attachment

Bonatti, RogerioCarnegie Mellon University
Madaan, RatneshCarnegie Mellon University
Vineet, VibhavStanford University
Scherer, SebastianCarnegie Mellon University
Kapoor, AshishMicroSoft
 
10:15-10:30, Paper MoAT2.2 
Learning Vision-Based Physics Intuition Models for Non-Disruptive Object Extraction

Ahuja, SarthakCarnegie Mellon University
Admoni, HennyCarnegie Mellon University
Steinfeld, AaronCarnegie Mellon University
 
10:30-10:45, Paper MoAT2.3 
Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches
 Video Attachment

Takahashi, TakutoWaseda University
Okuno, Hiroshi G.Waseda University
Sugano, ShigekiWaseda University
Coros, StelianCarnegie Mellon University
Thomaszewski, BernhardUniversité de Montréal
 
MoAT3 Room T3
Award Session 3: Finalists for Best Paper in Cognitive Robotics Regular session
Chair: You, Bum JaeKIST (Korea Institue of Science and Technology)
 
10:00-10:15, Paper MoAT3.1 
Acquiring Mechanical Knowledge from 3D Point Clouds
 Video Attachment

Li, ZijiaUniversity of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:15-10:30, Paper MoAT3.2 
Representation and Experience-Based Learning of Explainable Models for Robot Action Execution

Mitrevski, AlexHochschule Bonn-Rhein-Sieg
Plöger, Paul G.Hochschule Bonn Rhein Sieg
Lakemeyer, GerhardComputer Science Department, RWTH Aachen University
 
10:30-10:45, Paper MoAT3.3 
Emergent Adaptive Gait Generation through Hebbian Sensor-Motor Maps by Morphological Probing
 Video Attachment

Dujany, MatthieuEPFL
Hauser, SimonÉcole Polytechnique Fédérale de Lausanne (EPFL)
Mutlu, MehmetÉcole Polytechnique Fédérale de Lausanne (EPFL)
van der Sar, MartijnEPFL
Arreguit, JonathanÉcole polytechnique fédérale de Lausanne
Kano, TakeshiTohoku University
Ishiguro, AkioTohoku University
Ijspeert, AukeEPFL
 
10:45-11:00, Paper MoAT3.4 
Mixed Reality As a Bidirectional Communication Interface for Human-Robot Interaction
 Video Attachment

Rosen, EricBrown University
Whitney, DavidBrown University
Fishman, MichaelBrown University
Ullman, DanielBrown University
Tellex, StefanieBrown
 
11:00-11:15, Paper MoAT3.5 
The Robot As Scientist: Using Mental Simulation to Test Causal Hypotheses Extracted from Human Activities in Virtual Reality
 Video Attachment

Uhde, ConstantinTechnical University of Munich
Berberich, NicolasTechnical University of Munich
Ramirez-Amaro, KarinneChalmers University of Technology
Cheng, GordonTechnical University of Munich
 
MoAT4 Room T4
Award Session 4: Finalists for Best RoboCup Paper Regular session
Chair: Asada, MinoruOpen and Transdisciplinary Research Initiatives, Osaka University
 
10:00-10:15, Paper MoAT4.1 
Task Planning with Belief Behavior Trees
 Video Attachment

Safronov, EvgeniiIstituto Italiano di Tecnologia
Colledanchise, MicheleIIT - Italian Institute of Technology
Natale, LorenzoIstituto Italiano di Tecnologia
 
10:15-10:30, Paper MoAT4.2 
The Marathon 2: A Navigation System
 Video Attachment

Macenski, StevenSamsung Research America
Martin Rico, FranciscoCarnegie Mellon University
White, RuffinUniversity of California San Diego
Gines Clavero, JonatanKing Juan Carlos University
 
10:30-10:45, Paper MoAT4.3 
Relative Pose Estimation and Planar Reconstruction Via Superpixel-Driven Multiple Homographies
 Video Attachment

Wang, XiINRIA Rennes, IRISA
Christie, MarcUniversité de rennes 1
Marchand, EricUniv Rennes, Inria, CNRS, IRISA
 
10:45-11:00, Paper MoAT4.4 
Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion
 Video Attachment

Hong, SeungwooKorea Advanced Institute of Science and Technology
Kim, Joon-HaKorea Advanced Institute of Science and Technology(KAIST)
Park, Hae-WonKorea Advanced Institute of Science and Technology
 
MoAT5 Room T5
Award Session 5: Finalists for Best Paper on Robot Mechanism and Design Regular session
Chair: Dollar, AaronYale University
 
10:00-10:15, Paper MoAT5.1 
Combining Compliance Control, CAD Based Localization, and a Multi-Modal Gripper for Rapid and Robust Programming of Assembly Tasks
 Video Attachment

Gorjup, GalThe University of Auckland
Gao, GengUniversity of auckland
Dwivedi, AnanyUniversity of Auckland
Liarokapis, MinasThe University of Auckland
 
10:15-10:30, Paper MoAT5.2 
FreeBOT: A Freeform Modular Self-Reconfigurable Robot with Arbitrary Connection Point - Design and Implementation
 Video Attachment

Liang, GuanqiThe Chinese University of Hong Kong, Shenzhen
Luo, HaoboThe Chinese University of Hong Kong, Shenzhen
Li, MingChinese University of Hong Kong, Shenzhen
Qian, Huihuan (Alex)The Chinese University of Hong Kong, Shenzhen
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
 
10:30-10:45, Paper MoAT5.3 
Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches
 Video Attachment

Takahashi, TakutoWaseda University
Okuno, Hiroshi G.Waseda University
Sugano, ShigekiWaseda University
Coros, StelianCarnegie Mellon University
Thomaszewski, BernhardUniversité de Montréal
 
10:45-11:00, Paper MoAT5.4 
A Tip Mount for Transporting Sensors and Tools Using Soft Growing Robots
 Video Attachment

Jeong, Sang-GooKAIST
Coad, Margaret M.Stanford University
Blumenschein, LauraPurdue University
Luo, MingWashington State University
Mehmood, UsmanKorea University of Technology and Education
Kim, Ji-HunKorea University of Technology and Education
Okamura, Allison M.Stanford University
Ryu, Jee-HwanKorea Advanced Institute of Science and Technology
 
MoAT6 Room T6
Award Session 6: Finalists for Best Entertainment and Amusement Paper Regular session
Chair: Sugano, ShigekiWaseda University
 
10:00-10:15, Paper MoAT6.1 
Robot Calligraphy Using Pseudospectral Optimal Controlin Conjunction with a Novel Dynamic Brush Model

Wang, SenGeorgia Institute of Technology
Chen, JiaqiGeorgia Institute of Technology
Deng, XuanliangGeorgia Institute of Technology
Hutchinson, SethGeorgia Institute of Technology
Dellaert, FrankGeorgia Institute of Technology
 
10:15-10:30, Paper MoAT6.2 
Diabolo Orientation Stabilization by Learning Predictive Model for Unstable Unknown-Dynamics Juggling Manipulation
 Video Attachment

Murooka, TakayukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
10:30-10:45, Paper MoAT6.3 
Towards Micro Robot Hydrobatics: Vision-Based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments
 Video Attachment

Duecker, Daniel AndreHamburg University of Technology
Bauschmann, NathalieHamburg University of Technology
Hansen, TimTechnical University of Hamburg
Kreuzer, EdwinHamburg University of Technology
Seifried, RobertHamburg University of Technology
 
10:45-11:00, Paper MoAT6.4 
Animated Cassie: A Dynamic Relatable Robotic Character
 Video Attachment

Li, ZhongyuUniversity of California, Berkeley
Cummings, ChristineUC Berkeley
Sreenath, KoushilUniversity of California, Berkeley
 
MoAT7 Room T7
Award Session 7: Finalists for Best Paper on Safety, Security, and Rescue
Robotics
Regular session
Chair: Matsuno, FumitoshiKyoto University
 
10:00-10:15, Paper MoAT7.1 
Safety Considerations in Deep Control Policies with Safety Barrier Certificates under Uncertainty
 Video Attachment

Hirshberg, TomTechnion
Vemprala, SaiTexas A&M University
Kapoor, AshishMicroSoft
 
10:15-10:30, Paper MoAT7.2 
Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers
 Video Attachment

Paton, MichaelJet Propulsion Laboratory
Strub, Marlin PoloUniversity of Oxford
Brown, TravisNASA Jet Propulsion Laboratory, California Institute of Technology
Greene, Rebecca J.Johns Hopkins University
Lizewski, JacobGeorgia Tech
Patel, VandanGeorgia Institute of Technology
Gammell, JonathanUniversity of Oxford
Nesnas, IssaJet Propulsion Laboratory
 
10:30-10:45, Paper MoAT7.3 
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
 Video Attachment

Bouman, AmandaCaltech
Ginting, Muhammad FadhilJet Propulsion Laboratory
Alatur, NikhileshETH Zurich
Palieri, MatteoPolytechnic University of Bari
Fan, David DGeorgia Institute of Technology
Kim, Sung-KyunNASA Jet Propulsion Laboratory, Caltech
Touma, ThomasCaltech
Pailevanian, TorkomJet Propulsion Laboratory
Otsu, KyoheiCalifornia Institute of Technology
Burdick, JoelCalifornia Institute of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
 
10:45-11:00, Paper MoAT7.4 
Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force
 Video Attachment

Kojima, ShotaroTohoku University
Ohno, KazunoriTohoku University
Suzuki, TakahiroTohoku University
Okada, YoshitoTohoku University
Westfechtel, ThomasTohoku University
Tadokoro, SatoshiTohoku University
 
MoAT8 Room T8
Award Session 8: Finalists for Best Agri-Robotics Paper Regular session
Chair: Sugiura, HisashiYanmar Co., Ltd
 
10:00-10:15, Paper MoAT8.1 
Unsupervised Domain Adaptation for Transferring Plant Classification Systems to New Field Environments, Crops, and Robots

Gogoll, DarioUniversity of Bonn
Lottes, PhilippUniversity of Bonn
Weyler, JanUniversity of Bonn
Petrinic, NikUniversity of Oxford
Stachniss, CyrillUniversity of Bonn
 
10:15-10:30, Paper MoAT8.2 
DIAT (Depth-Infrared Image Annotation Transfer) for Training a Depth-Based Pig-Pose Detector
 Video Attachment

Yik, StevenMichigan State University
Benjamin, MadonnaMichigan State University
Lavagnino, MichaelMichigan State University
Morris, DanielMichigan State University
 
10:30-10:45, Paper MoAT8.3 
Incorporating Spatial Constraints into a Bayesian Tracking Framework for Improved Localisation in Agricultural Environments

Khan, Muhammad Waqas KhanUniversity of Lincoln
Das, GauthamUniversity of Lincoln
Hanheide, MarcUniversity of Lincoln
Cielniak, GrzegorzUniversity of Lincoln
 
10:45-11:00, Paper MoAT8.4 
Fruit Quality Control by Surface Analysis Using a Bio-Inspired Soft Tactile Sensor
 Video Attachment

Ribeiro, PedroInstituto Superior Tecnico
Cardoso, SusanaINESC-Microsistemas e Nanotecnologias and IN
Bernardino, AlexandreIST - Técnico Lisboa
Jamone, LorenzoQueen Mary University London
 
MoAT9 Room T9
Award Session 9: Finalists for Best Application Paper Regular session
Chair: Oh, SehoonDGIST (Daegu Gyeongbuk Institute of Science and Technology)
 
10:00-10:15, Paper MoAT9.1 
Pit30M: A Benchmark for Global Localization in the Age of Self-Driving Cars
 Video Attachment

Martinez, JulietaUber
Doubov, SashaUniversity of Waterloo
Fan, JackUber ATG
Bârsan, Ioan AndreiUber ATG / University of Toronto
Wang, ShenlongUniversity of Toronto
Mattyus, GellertUber ATG
Urtasun, RaquelUniversity of Toronto
 
10:15-10:30, Paper MoAT9.2 
OceanVoy: A Hybrid Energy Planning System for Autonomous Sailboat
 Video Attachment

Sun, QinboThe Chinese Univeristy of Hong Kong, Shenzhen
Qi, WeiminThe Chinese University of Hong Kong, Shenzhen
Liu, HengliPeng Cheng Laboratory, Shenzhen
Sun, ZhenglongChinese University of Hong Kong, Shenzhen
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Qian, Huihuan (Alex)The Chinese University of Hong Kong, Shenzhen
 
10:30-10:45, Paper MoAT9.3 
MHYRO: Modular HYbrid RObot for Contact Inspection and Maintenance in Oil&gas Plants
 Video Attachment

López, AbrahamUniversity of Seville, GRVC
Sanchez-Cuevas, Pedro JUniversity of Seville
Suarez, AlejandroUniversity of Seville
Soldado, ÁmbarUniversity of Seville
Ollero, AnibalUniversity of Seville
Heredia, GuillermoUniversity of Seville
 
10:45-11:00, Paper MoAT9.4 
LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot
 Video Attachment

Nicholson, JohnFlorida State University
Jasper, JayNASA-JPL
Kourchians, AraNASA-JPL
McCutcheon, GregFlorida State University
Austin, MaxFlorida State University
Gonzalez, MarkGeneral Dynamics Land Systems
Pusey, JasonU.S. Army Research Laboratory (ARL)
Karumanchi, SisirJet Propulsion Lab, Caltech
Hubicki, ChristianFlorida State University
Clark, JonathanFlorida State University
 
MoAT10 Room T10
Aerial Systems: Applications I Regular session
Chair: Mueller, Mark WilfriedUniversity of California, Berkeley
Co-Chair: Bezzo, NicolaUniversity of Virginia
 
10:00-10:15, Paper MoAT10.1 
Staging Energy Sources to Extend Flight Time of a Multirotor UAV
 Video Attachment

Jain, KaranUC Berkeley
Tang, Haoyun(Jerry)UC Berkeley
Sreenath, KoushilUniversity of California, Berkeley
Mueller, Mark WilfriedUniversity of California, Berkeley
 
10:15-10:30, Paper MoAT10.2 
Target Search on Road Networks with Range-Constrained UAVs and Ground-Based Mobile Recharging Vehicles

Booth, Kyle E. C.University of Toronto
Piacentini, ChiaraUniversity of Toronto
Bernardini, SaraRoyal Holloway University of London
Beck, J. ChristopherUniversity of Toronto
 
10:30-10:45, Paper MoAT10.3 
Assured Runtime Monitoring and Planning: Towards Verification of Neural Networks for Safe Autonomous Operations (I)
 Video Attachment

Yel, EsenUniversity of Virginia
Carpenter, TaylorUniversity of Pennsylvania
Di Franco, CarmeloUniversity of Virginia
Ivanov, RadoslavUniversity of Pennsylvania
Kantaros, YiannisUniversity of Pennsylvania
Lee, InsupUniversity of Pennsylvania
Weimer, JamesUniversity of Pennsylvania
Bezzo, NicolaUniversity of Virginia
 
10:45-11:00, Paper MoAT10.4 
UAV-AdNet: Unsupervised Anomaly Detection Using Deep Neural Networks for Aerial Surveillance
 Video Attachment

Bozcan, IlkerAarhus University
Kayacan, ErdalAarhus University
 
11:00-11:15, Paper MoAT10.5 
A Morphing Cargo Drone for Safe Flight in Proximity of Humans
 Video Attachment

Kornatowski, Przemyslaw MariuszEcole Polytechnique Federale De Lausanne (EPFL)
Feroskhan, MirNanyang Technological University
Stewart, WilliamEcole Polytechnique Federale De Lausanne
Floreano, DarioEcole Polytechnique Federal, Lausanne
 
MoAT11 Room T11
Aerial Systems: Applications II Regular session
Chair: Minor, MarkUniversity of Utah
Co-Chair: Yu, Kee-HoChonbuk National University
 
10:00-10:15, Paper MoAT11.1 
ROSflight: A Lean Open-Source Research Autopilot

Jackson, JamesBrigham Young University
Koch, DanielBrigham Young University
Henrichsen, TreyBrigham Young University
McLain, T.W.Brigham Young University
 
10:15-10:30, Paper MoAT11.2 
Online Weight-Adaptive Nonlinear Model Predictive Control

Kostadinov, DimcheUniversity of Zurich, Robotics and Perception Group
Scaramuzza, DavideUniversity of Zurich
 
10:30-10:45, Paper MoAT11.3 
CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes
 Video Attachment

Pueyo, PabloUniversidad De Zaragoza
Cristofalo, EricStanford University
Montijano, EduardoUniversidad De Zaragoza
Schwager, MacStanford University
 
10:45-11:00, Paper MoAT11.4 
Design and Evaluation of a Perching Hexacopter Drone for Energy Harvesting from Power Lines

Kitchen, RyanUniversity of Utah
Bierwolf, NickUniversity of Utah
Harbertson, SeanUniversity of Utah
Platt, BrageUniversity of Utah
Owen, DeanUniversity of Utah
Griesman, KlausUniversity of Utah
Minor, MarkUniversity of Utah
 
11:00-11:15, Paper MoAT11.5 
Flight Path Planning of Solar-Powered UAV for Sustainable Communication Relay

Guerra Padilla, Giancarlo EderChonbuk National University
Kim, Kun-JungChonbuk National University
Park, Seok-HwanJeonbuk National University
Yu, Kee-HoChonbuk National University
 
MoAT12 Room T12
Aerial Systems: Cooperating Robots Regular session
Chair: Tadakuma, KenjiroTohoku University
Co-Chair: Chirarattananon, PakpongCity University of Hong Kong
 
10:00-10:15, Paper MoAT12.1 
SplitFlyer: A Modular Quadcoptor That Disassembles into Two Flying Robots
 Video Attachment

Bai, SongnanCity University of Hong Kong
Tan, ShixinCity University of Hong Kong
Chirarattananon, PakpongCity University of Hong Kong
 
10:15-10:30, Paper MoAT12.2 
Towards Cooperative Transport of a Suspended Payload Via Two Aerial Robots with Inertial Sensing
 Video Attachment

Xie, HengCity University of Hong Kong
Cai, XinyuCity University of HongKong
Chirarattananon, PakpongCity University of Hong Kong
 
10:30-10:45, Paper MoAT12.3 
Active Vertical Takeoff of an Aquatic UAV
 Video Attachment

Tétreault, ÉtienneUniversité De Sherbrooke
Rancourt, DavidUniversité De Sherbrooke
Lussier Desbiens, AlexisUniversité De Sherbrooke
 
10:45-11:00, Paper MoAT12.4 
Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms under Communication Delays

Muskardin, TinGerman Aerospace Center (DLR)
Coelho, AndreGerman Aerospace Center (DLR)
Rodrigues Della Noce, EduardoGerman Aerospace Center (DLR)
Ollero, AnibalUniversity of Seville
Kondak, KonstantinGerman Aerospace Center
 
11:00-11:15, Paper MoAT12.5 
Toward Enabling a Hundred Drones to Land in a Minute
 Video Attachment

Fujikura, DaikiTOHOKU UNIVERSITY
Tadakuma, KenjiroTohoku University
Watanabe, MasahiroTohoku University
Okada, YoshitoTohoku University
Ohno, KazunoriTohoku University
Tadokoro, SatoshiTohoku University
 
11:15-11:30, Paper MoAT12.6 
Adaptive Aerial Grasping and Perching with Dual Elasticity Combined Suction Cup
 Video Attachment

Liu, SensenShanghaiJiaotong University
Dong, WeiShanghai Jiao Tong University
Ma, ZhaoShanghaiJiaotong University
Sheng, XinjunShanghai Jiao Tong University
 
MoAT13 Room T13
Aerial Systems: Environmental Monitoring Regular session
Chair: Rivas-Davila, JuanStanford University
Co-Chair: Das, JnaneshwarArizona State University
 
10:00-10:15, Paper MoAT13.1 
Wind and the City: Utilizing UAV-Based In-Situ Measurements for Estimating Urban Wind Fields
 Video Attachment

Patrikar, JayCarnegie Mellon University
Moon, BradyCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
10:15-10:30, Paper MoAT13.2 
Microdrone-Equipped Mobile Crawler Robot System, DIR-3, for High-Step Climbing and High-Place Inspection
 Video Attachment

Ogusu, YujiAIST
Tomita, KohjiNational Institute of Advanced Industrial Science AndTechnology
Kamimura, AkiyaNational Institute of Advanced Industrial Science and Technology
 
10:30-10:45, Paper MoAT13.3 
MHYRO: Modular HYbrid RObot for Contact Inspection and Maintenance in Oil&gas Plants
 Video Attachment

López, AbrahamUniversity of Seville, GRVC
Sanchez-Cuevas, Pedro JUniversity of Seville
Suarez, AlejandroUniversity of Seville
Soldado, ÁmbarUniversity of Seville
Ollero, AnibalUniversity of Seville
Heredia, GuillermoUniversity of Seville
 
10:45-11:00, Paper MoAT13.4 
Geomorphological Analysis Using Unpiloted Aircraft Systems, Structure from Motion, and Deep Learning

Chen, ZhiangArizona State University
Scott, TylerArizona State University
Bearman, SarahArizona State University
Anand, HarishArizona State University
Keating, DevinArizona State University
Scott, ChelseaArizona State University
Arrowsmith, RamonArizona State University
Das, JnaneshwarArizona State University
 
11:00-11:15, Paper MoAT13.5 
Lightweight High Voltage Generator for Untethered Electroadhesive Perching of Micro Air Vehicles
 Video Attachment

Park, SanghyeonStanford University
Drew, Daniel S.Stanford University
Follmer, SeanStanford University
Rivas-Davila, JuanStanford University
 
11:15-11:30, Paper MoAT13.6 
Unmanned Aerial Sensor Placement for Cluttered Environments

Farinha, AndreImperial College
Zufferey, RaphaelImperial College of London
Zheng, PeterImperial College London
Armanini, Sophie FranziskaImperial College London
Kovac, MirkoImperial College London
 
MoAT14 Room T14
Aerial Systems: Mechanics & Control I Regular session
Chair: Bergbreiter, SarahCarnegie Mellon University
Co-Chair: Szafir, Daniel J.University of Colorado Boulder
 
10:00-10:15, Paper MoAT14.1 
In-Flight Efficient Controller Auto-Tuning Using a Pair of UAVs

Giernacki, WojciechPoznan University of Technology
Horla, DariuszPoznan University of Technology
Saska, MartinCzech Technical University in Prague
 
10:15-10:30, Paper MoAT14.2 
A Novel Trajectory Optimization for Affine Systems: Beyond Convex-Concave Procedure
 Video Attachment

Rastgar, FatemehUniversity of Tartu
Singh, Arun KumarTampere University of Technology, Finland
Masnavi, HoumanInstitute of Technology, University of Tartu
Kruusamäe, KarlUniversity of Tartu
Aabloo, AlvoUniversity of Tartu, IMS Lab
 
10:30-10:45, Paper MoAT14.3 
Development of a Passive Skid for Multicopter Landing on Rough Terrain
 Video Attachment

Xu, MaozhengHiroshima University
Sumida, NaotoHiroshima University
Takaki, TakeshiHiroshima University
 
10:45-11:00, Paper MoAT14.4 
Template-Based Optimal Robot Design with Application to Passive-Dynamic Underactuated Flapping

De, AvikHarvard University
Wood, RobertHarvard University
 
11:00-11:15, Paper MoAT14.5 
A Whisker-Inspired Fin Sensor for Multi-Directional Airflow Sensing

Kim, SuhanCarnegie Mellon University
Kubicek, ReganCarnegie Mellon University
Paris, AleixMassachusetts Institute of Technology
Tagliabue, AndreaMassachusetts Institute of Technology
How, Jonathan PatrickMassachusetts Institute of Technology
Bergbreiter, SarahCarnegie Mellon University
 
11:15-11:30, Paper MoAT14.6 
PufferBot: Actuated Expandable Structures for Aerial Robots
 Video Attachment

Hedayati, HoomanColorado University Boulder
Suzuki, RyoUniversity of Colorado Boulder
Leithinger, DanielMIT
Szafir, Daniel J.University of Colorado Boulder
 
MoAT15 Room T15
Aerial Systems: Mechanics & Control II Regular session
Chair: Zheng, MinghuiUniversity at Buffalo
Co-Chair: Kumar, ManishUniversity of Cincinnati
 
10:00-10:15, Paper MoAT15.1 
Optimal-Power Configurations for Hover Solutions in Mono-Spinners

Hedayatpour, MojtabaUniversity of Regina
Mehrandezh, MehranUniversity of Regina
Janabi-Sharifi, FarrokhRyerson University
 
10:15-10:30, Paper MoAT15.2 
Knowledge Transfer between Different UAVs for Trajectory Tracking

Chen, ZhuUniversity at Buffalo
Liang, XiaoUniversity at Buffalo
Zheng, MinghuiUniversity at Buffalo
 
10:30-10:45, Paper MoAT15.3 
Flight Control of Sliding Arm Quadcopter with Dynamic Structural Parameters
 Video Attachment

Kumar, RumitUniversity of Cincinnati
Deshpande, Aditya M.University of Cincinnati
Wells, James Z.University of Cincinnati
Kumar, ManishUniversity of Cincinnati
 
10:45-11:00, Paper MoAT15.4 
Design and Control of SQUEEZE: A Spring-Augmented QUadrotor for intEractions with the Environment to SqueeZE-And-Fly
 Video Attachment

Patnaik, KarishmaArizona State University
Mishra, ShatadalASU
Rezayat Sorkhabadi, Seyed MostafaArizona State University
Zhang, WenlongArizona State University
 
11:00-11:15, Paper MoAT15.5 
Hybrid Aerial-Ground Locomotion with a Single Passive Wheel
 Video Attachment

Qin, YoumingThe University of Hong Kong
Li, YihangUniversity of Hong Kong
Xu, WeiUniversity of Hong Kong
Zhang, FuUniversity of Hong Kong
 
11:15-11:30, Paper MoAT15.6 
TiltDrone: A Fully-Actuated Tilting Quadrotor Platform

Zheng, PeterImperial College London
Tan, XinKaiImperial College London
Koçer, Başaran BahadırNanyang Technological University
Yang, ErdengImperial College London
Kovac, MirkoImperial College London
 
MoAT16 Room T16
Aerial Systems: Mechanics & Control III Regular session
Chair: Kim, H. JinSeoul National University
Co-Chair: Bass, JohnUniversité De Sherbrooke
 
10:00-10:15, Paper MoAT16.1 
Adaptive Nonlinear Control for Perching of a Bioinspired Ornithopter
 Video Attachment

Maldonado Fernández, Francisco JavierUniversity of Seville
Acosta, Jose AngelUniversity of Seville
Tormo Barbero, JesusUniversidad De Sevilla
Grau, PedroUniversity of Seville
GuzmÁn GarcÍa, MarÍa Del MarUniversity of Seville
Ollero, AnibalUniversity of Seville
 
10:15-10:30, Paper MoAT16.2 
Improving Multirotor Landing Performance on Inclined Surfaces Using Reverse Thrust

Bass, JohnUniversité De Sherbrooke
Lussier Desbiens, AlexisUniversité De Sherbrooke
 
10:30-10:45, Paper MoAT16.3 
Evolved Neuromorphic Control for High Speed Divergence-Based Landings of MAVs

Hagenaars, Jesse JanDelft University of Technology
Paredes-Valles, FedericoDelft University of Technology
Bohte, SanderCentrum Wiskunde & Informatica
de Croon, GuidoTU Delft / ESA
 
10:45-11:00, Paper MoAT16.4 
A Collision-Resilient Aerial Vehicle with Icosahedron Tensegrity Structure
 Video Attachment

Zha, JiamingUniversity of California, Berkeley
Wu, XiangyuUniversity of California, Berkeley
Kroeger, JosephUniversity of California Berkeley
Perez, NataliaUniversity of California, Berkeley
Mueller, Mark WilfriedUniversity of California, Berkeley
 
11:00-11:15, Paper MoAT16.5 
Fail-Safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure
 Video Attachment

Lee, Seung JaeSeoul National University
Jang, InkyuSeoul National University
Kim, H. JinSeoul National University
 
11:15-11:30, Paper MoAT16.6 
Development of Hiryu-II: A Long-Reach Articulated Modular Manipulator Driven by Thrusters
 Video Attachment

Ueno, YusukeTokyo Institute of Technology
Hagiwara, TetsuoKinderHeim
Nabae, HiroyukiTokyo Institute of Technology
Suzumori, KoichiTokyo Institute of Technology
Endo, GenTokyo Institute of Technology
 
MoAT17 Room T17
Aerial Systems: Path Planning Regular session
Chair: Gao, FeiZhejiang University
 
10:00-10:15, Paper MoAT17.1 
Experimental Flights of Adaptive Patterns for Cloud Exploration with UAVs
 Video Attachment

Verdu, TitouanENAC, University of Toulouse
Maury Nicolas, NicolasMétéo France Toulouse
Narvor Pierre, PierreLAAS-CNRS, Université De Toulouse
Seguin, FlorianLAAS-CNRS, Université De Toulouse
Roberts Gregory, GregoryMETEO-FRANCE Toulouse
Couvreux, FleurCNRM, Université Toulouse, Météo France and CNRS
Cayez Grégoire, GrégoireMETEO-FRANCE Toulouse
Bronz, MuratENAC, Université De Toulouse
Hattenberger, GautierENAC, French Civil Aviation University
Lacroix, SimonLAAS/CNRS
 
10:15-10:30, Paper MoAT17.2 
Navigation-Assistant Path Planning within a MAV Team
 Video Attachment

Jang, YoungseokSeoul National University
Lee, YunwooSeoul National University
Kim, H. JinSeoul National University
 
10:30-10:45, Paper MoAT17.3 
UAV Coverage Path Planning under Varying Power Constraints Using Deep Reinforcement Learning
 Video Attachment

Theile, MircoTechnical University of Munich
Bayerlein, HaraldEURECOM
Nai, RichardTechnical University of Munich
Gesbert, DavidEURECOM
Caccamo, MarcoTechnical University of Munich
 
10:45-11:00, Paper MoAT17.4 
Detection-Aware Trajectory Generation for a Drone Cinematographer
 Video Attachment

Jeon, BoseongSeoul National University
Shim, DongseokSeoul National University
Kim, H. JinSeoul National University
 
11:00-11:15, Paper MoAT17.5 
Autonomous and Cooperative Design of the Monitor Positions for a Team of UAVs to Maximize the Quantity and Quality of Detected Objects
 Video Attachment

Koutras, DimitriosCenter for Research and Technology Hellas, Democritus University
Kapoutsis, AthanasiosDemocritus University of Thrace, Xanthi, Greece & Centre for Res
Kosmatopoulos, EliasDemocritus Univ. Thrace & ITI/CERTH
 
11:15-11:30, Paper MoAT17.6 
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
 Video Attachment

Wang, ZhepeiZhejiang University
Zhou, XinZHEJIANG UNIVERSITY
Xu, ChaoZhejiang University
Chu, JianZhejiang University
Gao, FeiZhejiang University
 
MoAT18 Room T18
UAV Planning Regular session
Chair: Mueller, Mark WilfriedUniversity of California, Berkeley
Co-Chair: Jing, WeiA*STAR
 
10:00-10:15, Paper MoAT18.1 
Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV
 Video Attachment

Chen, CiZhejiang University
Wan, YuanfangSouthern University of Science and Technology
Li, BaoweiPeking University
Wang, ChenPeking University
Xie, GuangmingPeking University
Jiang, HuanyuZhejiang University
 
10:15-10:30, Paper MoAT18.2 
Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures

Jing, WeiA*STAR
Deng, DiCarnegie Mellon University
Wu, YanA*STAR Institute for Infocomm Research
Shimada, KenjiCarnegie Mellon University
 
10:30-10:45, Paper MoAT18.3 
Generating Minimum-Snap Quadrotor Trajectories Really Fast
 Video Attachment

Burke, DeclanThe University of Melbourne
Chapman, AirlieUniversity of Washington
Shames, ImanThe University of Melbourne
 
10:45-11:00, Paper MoAT18.4 
Rectangular Pyramid Partitioning Using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
 Video Attachment

Bucki, NathanUniversity of California, Berkeley
Lee, JunseokUniversity of California, Berkeley
Mueller, Mark WilfriedUniversity of California, Berkeley
 
MoAT19 Room T19
Planning for Aerial Systems Regular session
Chair: Chli, MargaritaETH Zurich
Co-Chair: Torres-González, ArturoUniversity of Seville
 
10:00-10:15, Paper MoAT19.1 
Persistent Connected Power Constrained Surveillance with Unmanned Aerial Vehicles

Ghosh, PradiptaUniversity of Southern California
Tabuada, PauloUCLA
Govindan, RameshUniversity of Southern California
Sukhatme, GauravUniversity of Southern California
 
10:15-10:30, Paper MoAT19.2 
Autonomous Planning for Multiple Aerial Cinematographers

Caraballo de la Cruz, Luis EvaristoUniversidad De Sevilla
Montes-Romero, Angel-ManuelUniversity of Seville; GRVC Team
Díaz-Báńez, José-MiguelUniversidad Sevilla
Capitan, JesusUniversity of Seville
Torres-González, ArturoUniversity of Seville
Ollero, AnibalUniversity of Seville
 
10:30-10:45, Paper MoAT19.3 
Multi-Robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments
 Video Attachment

Bartolomei, LucaETH Zurich
Karrer, MarcoETH Zurich
Chli, MargaritaETH Zurich
 
10:45-11:00, Paper MoAT19.4 
A Distributed Pipeline for Scalable, Deconflicted Formation Flying

Lusk, Parker C.Massachusetts Institute of Technology
Cai, XiaoyiMassachusetts Institute of Technology
Wadhwania, SamirMassachusetts Institute of Technology
Paris, AleixMassachusetts Institute of Technology
Fathian, KavehMIT
How, Jonathan PatrickMassachusetts Institute of Technology
 
11:00-11:15, Paper MoAT19.5 
Decentralized Nonlinear MPC for Robust Cooperative Manipulation by Heterogeneous Aerial-Ground Robots
 Video Attachment

Lissandrini, NicolaUniversity of Padova
Verginis, ChristosElectrical Engineering, KTH Royal Institute of Technology
Roque, PedroKTH Royal Institute of Technology, Stockholm, Sweden
Cenedese, AngeloUniversity of Padova
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
11:15-11:30, Paper MoAT19.6 
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty

Sharif Mansouri, SinaLuleĺ University of Technology
Kanellakis, ChristoforosLTU
Lindqvist, BjörnLuleĺ University of Technology
Pourkamali-Anaraki, FarhadAssistant Professor
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
Burdick, JoelCalifornia Institute of Technology
Nikolakopoulos, GeorgeLuleĺ University of Technology
 
MoAT20 Room T20
Aerial Systems: Perception Regular session
Chair: Roy, NicholasMassachusetts Institute of Technology
Co-Chair: Pan, JiaUniversity of Hong Kong
 
10:00-10:15, Paper MoAT20.1 
In-Flight Range Optimization of Multicopters Using Multivariable Extremum Seeking with Adaptive Step Size
 Video Attachment

Wu, XiangyuUniversity of California, Berkeley
Mueller, Mark WilfriedUniversity of California, Berkeley
 
10:15-10:30, Paper MoAT20.2 
Semantic Trajectory Planning for Long-Distant Unmanned Aerial Vehicle Navigation in Urban Environments
 Video Attachment

Ryll, MarkusMassachusetts Institute of Technology
Ware, JohnMassachusetts Institute of Technology
Carter, JohnMIT
Roy, NicholasMassachusetts Institute of Technology
 
10:30-10:45, Paper MoAT20.3 
Augmented Memory for Correlation Filters in Real-Time UAV Tracking

Li, YimingTongji University
Fu, ChanghongTongji University
Ding, FangqiangTongji University
Huang, ZiyuanNational Universitu of Singapore
Pan, JiaUniversity of Hong Kong
 
10:45-11:00, Paper MoAT20.4 
Next-Best-View Planning for Surface Reconstruction of Large-Scale 3D Environments with Multiple UAVs
 Video Attachment

Hardouin, GuillaumeONERA
Moras, JulienONERA
Morbidi, FabioUniversité De Picardie Jules Verne
Marzat, JulienONERA, Université Paris Saclay
Mouaddib, El MustaphaUniversite De Picardie Jules Verne
 
11:00-11:15, Paper MoAT20.5 
Towards Robust Visual Tracking for Unmanned Aerial Vehicle with Tri-Attentional Correlation Filters

He, YujieTongji University
Fu, ChanghongTongji University
Lin, FulingTongji University
Li, YimingTongji University
Lu, PengThe Hong Kong Polytechnic University
 
11:15-11:30, Paper MoAT20.6 
Inspection-On-The-Fly Using Hybrid Physical Interaction Control for Aerial Manipulators
 Video Attachment

Abbaraju, PraveenPurdue University
Ma, XinChinese Univerisity of HongKong
Manoj Krishnan, HarikrishnanPurdue University
Venkatesh, L.N VishnunandanPurdue University
Rastgaar, MoPurdue University
Voyles, RichardPurdue University
 
11:15-11:30, Paper MoAT20.7 
AirCapRL: Autonomous Aerial Human Motion Capture Using Deep Reinforcement Learning

Tallamraju, RahulInternational Institute of Information Technology, Hyderabad
Saini, NitinMax Planck Institute for Intelligent Systems
Bonetto, EliaMax Planck Institute for Intelligent Systems, Tuebingen
Pabst, MichaelMax Planck Institute for Intelligent Systems
Liu, Yu TangMax Planck Institute Intelligent System
Black, MichaelMax Planck Institute for Intelligent Systems in Tübingen
Ahmad, AamirMax Planck Institute for Intelligent Systems
 
MoAT21 Room T21
Perception for Aerial Systems Regular session
Chair: Scherer, SebastianCarnegie Mellon University
Co-Chair: Albl, CenekETH Zurich
 
10:00-10:15, Paper MoAT21.1 
DR^2Track: Towards Real-Time Visual Tracking for UAV Via Distractor Repressed Dynamic Regression

Fu, ChanghongTongji University
Ding, FangqiangTongji University
Li, YimingTongji University
Jin, JinTongji University
Feng, ChenNew York University
 
10:15-10:30, Paper MoAT21.2 
Towards Vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV
 Video Attachment

Rashad, RamyUniversity of Twente
Bicego, DavideUniversity of Twente
Jiao, RanBeihang University
Sanchez-Escalonilla, SantiagoUniversity of Twente
Stramigioli, StefanoUniversity of Twente
 
10:30-10:45, Paper MoAT21.3 
Towards Deep Learning Assisted Autonomous UAVs for Manipulation Tasks in GPS-Denied Environments
 Video Attachment

Kumar, AshishIndian Institute of Technology, Kanpur
Vohra, MohitIndian Institute of Technology, Kanpur
Prakash, RaviIndian Institute of Technology, Kanpur
Behera, LaxmidharIIT Kanpur
 
10:45-11:00, Paper MoAT21.4 
Reconstruction of 3D Flight Trajectories from Ad-Hoc Camera Networks

Li, JingtongETH Zurich
Murray, JesseETH Zurich
Ismaili, DorinaTechnical University Munich
Schindler, KonradETH Zurich
Albl, CenekETH Zurich
 
11:00-11:15, Paper MoAT21.5 
Bayesian Fusion of Unlabeled Vision and RF Data for Aerial Tracking of Ground Targets
 Video Attachment

Kanlapuli Rajasekaran, RamyaUniversity of Colorado Boulder
Ahmed, NisarUniversity of Colorado Boulder
Frew, Eric W.University of Colorado
 
11:15-11:30, Paper MoAT21.6 
Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations
 Video Attachment

Bonatti, RogerioCarnegie Mellon University
Madaan, RatneshCarnegie Mellon University
Vineet, VibhavStanford University
Scherer, SebastianCarnegie Mellon University
Kapoor, AshishMicroSoft
 
MoAT22 Room T22
Sensor Fusion for Aerial, Autonomous, and Marine Robotics Regular session
Chair: Englot, BrendanStevens Institute of Technology
Co-Chair: Atkins, EllaUniversity of Michigan
 
10:00-10:15, Paper MoAT22.1 
Touch the Wind: Simultaneous Airflow, Drag and Interaction Sensing on a Multirotor
 Video Attachment

Tagliabue, AndreaEth Zurich
Paris, AleixMassachusetts Institute of Technology
Kim, SuhanCarnegie Mellon University
Kubicek, ReganCarnegie Mellon University
Bergbreiter, SarahCarnegie Mellon University
How, Jonathan PatrickMassachusetts Institute of Technology
 
10:15-10:30, Paper MoAT22.2 
Fusing Concurrent Orthogonal Wide-Aperture Sonar Images for Dense Underwater 3D Reconstruction
 Video Attachment

McConnell, JohnStevens Institute of Technology
Martin, John D.Stevens Institute of Technology
Englot, BrendanStevens Institute of Technology
 
10:30-10:45, Paper MoAT22.3 
A Scalable Framework for Robust Vehicle State Estimation with a Fusion of a Low-Cost IMU, the GNSS, Radar, a Camera and Lidar

Liang, YuranTechnical University of Berlin
Müller, SteffenTechnical University of Berlin
Schwendner, DanielBMW Group
Rolle, DanielBMW Group
Ganesch, DieterBMW Group
Schaffer, ImmanuelBMW Group
 
10:45-11:00, Paper MoAT22.4 
Probabilistic End-To-End Vehicle Navigation in Complex Dynamic Environments with Multimodal Sensor Fusion
 Video Attachment

Cai, PeideHong Kong University of Science and Technology
Wang, SukaiRobotics and Multi-Perception Lab (RAM-LAB), Robotics Institute,
Sun, YuxiangHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
11:00-11:15, Paper MoAT22.5 
Vision Only 3-D Shape Estimation for Autonomous Driving

Monica, JosephineCornell University
Campbell, MarkCornell University
 
11:15-11:30, Paper MoAT22.6 
Polylidar - Polygons from Triangular Meshes

Castagno, JeremyUniversity of Michigan
Atkins, EllaUniversity of Michigan
 
MoBT1 Room T1
Marine Robotics Regular session
Chair: Hollinger, GeoffreyOregon State University
 
11:45-12:00, Paper MoBT1.1 
Active Alignment Control-Based LED Communication for Underwater Robots
 Video Attachment

Solanki, Pratap BhanuMichigan State University
Bopardikar, Shaunak D.Michigan State University
Tan, XiaoboMichigan State University
 
12:00-12:15, Paper MoBT1.2 
An Electrocommunication System Using FSK Modulation and Deep Learning Based Demodulation for Underwater Robots

Qinghao, WangPeking University
Ruijun, LiuGuangxi University of Science and Technology
Wang, WeiMassachusetts Institute of Technology
Xie, GuangmingPeking University
 
12:15-12:30, Paper MoBT1.3 
Demonstration of a Novel Phase Lag Controlled Roll Rotation Mechanism Using a Two-DOF Soft Swimming Robot
 Video Attachment

Liu, BangyuanGeorgia Institute of Technology
Hammond III, Frank L.Georgia Institute of Technology
 
12:30-12:45, Paper MoBT1.4 
Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot

Knizhnik, GedaliahUniversity of Pennsylvania
deZonia, PhilipUniversity of Pennsylvania
Yim, MarkUniversity of Pennsylvania
 
12:45-13:00, Paper MoBT1.5 
Topology-Aware Self-Organizing Maps for Robotic Information Gathering

McCammon, SethOregon State University
Jones, DylanOregon State University
Hollinger, GeoffreyOregon State University
 
13:00-13:15, Paper MoBT1.6 
The SPIR: An Autonomous Underwater Robot for Bridge Pile Cleaning and Condition Assessment

Le, Duy KhoaUniversity of Technology Sydney
To, AndrewUniversity of Technology, Sydney
Leighton, BrentonUniversity of Technology Sydney
Hassan, MahdiUniversity of Technology, Sydney
Liu, DikaiUniversity of Technology, Sydney
 
13:00-13:15, Paper MoBT1.7 
Vehicle-In-The-Loop Framework for Testing Long-Term Autonomy in a Heterogeneous Marine Robot Swarm
 Video Attachment

Babic, AnjaUniversity of Zagreb, Faculty of Electrical Engineering and Comp
Vasiljevic, GoranFaculty of Electrical Engineering and Computing, Zagreb, Croatia
Miskovic, NikolaUniversity of Zagreb, Faculty of Electrical Engineering And
 
MoBT2 Room T2
Marine Robotics: Mechanisms Regular session
Chair: Sattar, JunaedUniversity of Minnesota
Co-Chair: Qian, Huihuan (Alex)The Chinese University of Hong Kong, Shenzhen
 
11:45-12:00, Paper MoBT2.1 
Roboat II: A Novel Autonomous Surface Vessel for Urban Environments
 Video Attachment

Wang, WeiMassachusetts Institute of Technology
Shan, TixiaoMassachusetts Institute of Technology
Leoni, PietroMassachusetts Institute of Technology
Meyers, DrewMIT
Ratti, CarloMassachusetts Institute of Technology
Rus, DanielaMIT
 
12:00-12:15, Paper MoBT2.2 
A Two-Stage Automatic Latching System for the USVs Charging in Disturbed Berth
 Video Attachment

Xue, KaiwenThe Chinese University of Hong Kong, Shenzhen
Liu, ChongfengThe Chinese University of Hong Kong, Shenzhen
Liu, HengliPeng Cheng Laboratory, Shenzhen
Xu, RuoyuThe Chinese University of Hong Kong, Shenzhen
Sun, ZhenglongChinese University of Hong Kong, Shenzhen
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Qian, HuihuanShenzhen Institute of Artificial Intelligence and Robotics for S
 
12:15-12:30, Paper MoBT2.3 
Variable Pitch System for the Underwater Explorer Robot UX-1

Suarez Fernandez, Ramon A.Universidad Politecnica De Madrid
Grande, DavidePolitecnico Di Milano
Martins, AlfredoINESC TEC
Bascetta, LucaPolitecnico Di Milano
Dominguez, SergioTechnical University of Madrid
Rossi, ClaudioUniversidad Politecnica De Madrid
 
12:30-12:45, Paper MoBT2.4 
Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
 Video Attachment

Edge, ChelseyUniversity of Minnesota
Enan, Sadman SakibUniversity of Minnesota, Twin Cities
Fulton, MichaelUniversity of Minnesota
Hong, JungseokUniversity of Minnesota
Mo, JiaweiUniversity of Minnesota, Twin Cities
Barthelemy, KimberlyUniversity of Minnesota
Bashaw, HunterClarkson University
Kallevig, BerikUniversity of Minnesota Twin Cities
Knutson, CoreyUniversity of Minnesota - Duluth
Orpen, KevinUniversity of Minnesota
Sattar, JunaedUniversity of Minnesota
 
MoBT3 Room T3
Marine Robotics: Perception Regular session
Chair: Drews-Jr, PauloFederal University of Rio Grande (FURG)
Co-Chair: Rekleitis, IoannisUniversity of South Carolina
 
11:45-12:00, Paper MoBT3.1 
Semantic Segmentation of Underwater Imagery: Dataset and Benchmark

Islam, Md JahidulUniversity of Minnesota-Twin Cities
Edge, ChelseyUniversity of Minnesota
Xiao, YuyangUniversity of Minnesota
Luo, PeigenUniversity of Minnesota, Twin Cities
Mehtaz, MuntaqimUniversity of Minnesota (IRV Lab)
Morse, ChristopherUniversity of Minnesota - Twin Cities
Enan, Sadman SakibUniversity of Minnesota, Twin Cities
Sattar, JunaedUniversity of Minnesota
 
12:00-12:15, Paper MoBT3.2 
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
 Video Attachment

Joshi, BharatUniversity of South Carolina
Modasshir, MdUniversity of South Carolina
Manderson, TravisMcGill University
Damron, HunterUniversity of South Carolina
Xanthidis, MariosUniversity of South Carolina
Quattrini Li, AlbertoDartmouth College
Rekleitis, IoannisUniversity of South Carolina
Dudek, GregoryMcGill University
 
12:15-12:30, Paper MoBT3.3 
Underwater Monocular Image Depth Estimation Using Single-Beam Echosounder
 Video Attachment

Roznere, MonikaDartmouth College
Quattrini Li, AlbertoDartmouth College
 
12:30-12:45, Paper MoBT3.4 
Matching Color Aerial Images and Underwater Sonar Images Using Deep Learning for Underwater Localization

Machado dos Santos, MatheusFURG
Giacomo, GiovanniFURG
Drews-Jr, PauloFederal University of Rio Grande (FURG)
Botelho, SilviaUniversity Federal of Rio Grande (FURG)
 
12:45-13:00, Paper MoBT3.5 
ACMarker: Acoustic Camera-Based Fiducial Marker System in Underwater Environment
 Video Attachment

Wang, YushengThe University of Tokyo
Ji, YonghoonJAIST
Liu, DingyuThe University of Tokyo
Tamura, YusukeTohoku University
Tsuchiya, HiroshiWakachiku Construction Co., Ltd
Yamashita, AtsushiThe University of Tokyo
Asama, HajimeThe University of Tokyo
 
MoBT4 Room T4
Marine Robotics: Planning and Control Regular session
Chair: Arbanas, BarbaraUniversity of Zagreb, Faculty of Electrical Engineering and Computing
Co-Chair: Kaess, MichaelCarnegie Mellon University
 
12:00-12:15, Paper MoBT4.2 
Risk Vector-Based Near Miss Obstacle Avoidance for Autonomous Surface Vehicles
 Video Attachment

Jeong, MingiDartmouth College
Quattrini Li, AlbertoDartmouth College
 
12:15-12:30, Paper MoBT4.3 
Model Identification of a Small Omnidirectional Aquatic Surface Vehicle: A Practical Implementation

Groves, KeirThe University of Manchester
Dimitrov, MarinUniversity of Manchester
Peel, HarrietUniversity of Manchester
Marjanovic, OgnjenUniversity of Manchester
Lennox, BarryThe University of Manchester
 
12:30-12:45, Paper MoBT4.4 
Towards Micro Robot Hydrobatics: Vision-Based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments
 Video Attachment

Duecker, Daniel AndreHamburg University of Technology
Bauschmann, NathalieHamburg University of Technology
Hansen, TimTechnical University of Hamburg
Kreuzer, EdwinHamburg University of Technology
Seifried, RobertHamburg University of Technology
 
12:45-13:00, Paper MoBT4.5 
Coverage Path Planning with Track Spacing Adaptation for Autonomous Underwater Vehicles
 Video Attachment

Yordanova, VeronikaCMRE
Gips, BartNato Sto Cmre
 
13:00-13:15, Paper MoBT4.6 
Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic Communication

Vasiljevic, GoranFaculty of Electrical Engineering and Computing, Zagreb, Croatia
Petrovic, TamaraUniv. of Zagreb
Arbanas, BarbaraUniversity of Zagreb, Faculty of Electrical Engineering and Comp
Bogdan, StjepanUniversity of Zagreb
 
MoBT5 Room T5
Space Robotics: Control Regular session
Chair: McBryan, KatherineUS Naval Research Laboratory
Co-Chair: Papadopoulos, EvangelosNational Technical University of Athens
 
11:45-12:00, Paper MoBT5.1 
On Parameter Estimation of Flexible Space Manipulator Systems

Christidi-Loumpasefski, Olga-OrsaliaNational Technical University of Athens
Nanos, KostasNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
12:00-12:15, Paper MoBT5.2 
Comparison between Stationary and Crawling Multi-Arm Robotics for In-Space Assembly

McBryan, KatherineUS Naval Research Laboratory
 
12:15-12:30, Paper MoBT5.3 
Interactive Planning and Supervised Execution for High-Risk, High-Latency Teleoperation
 Video Attachment

Pryor, WillJohns Hopkins University
Vagvolgyi, BalazsJohns Hopkins University
Deguet, AntonJohns Hopkins University
Leonard, SimonThe Johns Hopkins University
Whitcomb, LouisThe Johns Hopkins University
Kazanzides, PeterJohns Hopkins University
 
12:30-12:45, Paper MoBT5.4 
Parameter Identification for an Uncooperative Captured Satellite with Spinning Reaction Wheels

Christidi-Loumpasefski, Olga-OrsaliaNational Technical University of Athens
Papadopoulos, EvangelosNational Technical University of Athens
 
12:45-13:00, Paper MoBT5.5 
Tumbling and Hopping Locomotion Control for a Minor Body Exploration Robot
 Video Attachment

Kobashi, KeitaTohoku University
Bando, AyumuTohoku University
Nagaoka, KenjiTohoku University
Yoshida, KazuyaTohoku University
 
13:00-13:15, Paper MoBT5.6 
Inertia-Decoupled Equations for Hardware-In-The-Loop Simulation of an Orbital Robot with External Forces
 Video Attachment

Mishra, HrishikGerman Aerospace Center (DLR)
Giordano, Alessandro MassimoDLR (German Aerospace Center)
De Stefano, MarcoGerman Aerospace Center (DLR)
Lampariello, RobertoGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
MoBT6 Room T6
Space Robotics: Perception Regular session
Chair: Triebel, RudolphGerman Aerospace Center (DLR)
Co-Chair: Leonard, SimonThe Johns Hopkins University
 
11:45-12:00, Paper MoBT6.1 
A Target Tracking and Positioning Framework for Video Satellites Based on SLAM

Zhao, XuhuiWuhan University
Gao, ZhiTemasek Laboratories @ NUS
Zhang, YongjunWuhan University
Chen, Ben M.Chinese University of Hong Kong
 
12:00-12:15, Paper MoBT6.2 
Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments

Le Gentil, CedricUniversity of Technology Sydney
Vayugundla, MallikarjunaDLR (German Aerospace Center)
Giubilato, RiccardoGerman Aerospace Center (DLR)
Stuerzl, WolfgangDLR, Institute of Robotics and Mechantronics
Vidal-Calleja, Teresa A.University of Technology Sydney
Triebel, RudolphGerman Aerospace Center (DLR)
 
12:15-12:30, Paper MoBT6.3 
Visual Monitoring and Servoing of a Cutting Blade During Telerobotic Satellite Servicing
 Video Attachment

Mahmood, AmamaJohns Hopkins University
Vagvolgyi, BalazsJohns Hopkins University
Pryor, WillJohns Hopkins University
Whitcomb, LouisThe Johns Hopkins University
Kazanzides, PeterJohns Hopkins University
Leonard, SimonThe Johns Hopkins University
 
12:30-12:45, Paper MoBT6.4 
Terrain-Aware Path Planning and Map Update for Mars Sample Return Mission
 Video Attachment

Hedrick, GabrielleWest Virginia University
Ohi, NicholasWest Virginia University
Gu, YuWest Virginia University
 
12:45-13:00, Paper MoBT6.5 
Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation

Iwashita, YumiNASA / Caltech Jet Propulsion Laboratory
Nakashima, KazutoKyushu University
Gatto, JosephColumbia University
Higa, ShoyaJet Propulsion Laboratory
Stoica, AdrianNASA/JPL
Khoo, NorrisNASA Jet Propulsion Laboratory
Kurazume, RyoKyushu University
 
MoBT7 Room T7
Space Robotics: Systems Regular session
Chair: Komendera, ErikVirginia Polytechnic Institute and State University
Co-Chair: Kubota, TakashiJAXA ISAS
 
11:45-12:00, Paper MoBT7.1 
Subsurface Sampling Robot for Time-Limited Asteroid Exploration
 Video Attachment

Kato, HirokiJapan Aerospace Exploration Agency
Satou, YasutakaJAXA
Yoshikawa, KentJAXA
Otsuki, MasatsuguJapan Aerospace Exploration Agency
Sawada, HirotakaJAXA
Kuratoi, TakeshiWEL Research
Hidaka, NanaWEL Research
 
12:00-12:15, Paper MoBT7.2 
Robots Made from Ice: An Analysis of Manufacturing Techniques
 Video Attachment

Carroll, DevinUniversity of Pennsylvania
Yim, MarkUniversity of Pennsylvania
 
12:15-12:30, Paper MoBT7.3 
Autonomous Navigation Over Europa Analogue Terrain for an Actively Articulated Wheel-On-Limb Rover
 Video Attachment

Reid, WilliamJet Propulsion Laboratory
Paton, MichaelJet Propulsion Laboratory
Karumanchi, SisirJet Propulsion Lab, Caltech
Emanuel, BlairJet Propulsion Laboratory
Chamberlain-Simon, BrendanJet Propulsion Laboratory
Meirion-Griffith, GarethJet Propulsion Laboratory
 
12:30-12:45, Paper MoBT7.4 
Autonomous Multi-Robot Assembly of Solar Array Modules: Experimental Analysis and Insights

Everson, HollyVirginia Polytechnic Institute and State University
Moser, JoshuaVirginia Polytechnic Institute and State University
Quartaro, AmyVirginia Polytechnic Institute and State University
Glassner, SamanthaVirginia Tech
Komendera, ErikVirginia Polytechnic Institute and State University
 
12:45-13:00, Paper MoBT7.5 
The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration
 Video Attachment

Schuster, Martin J.German Aerospace Center (DLR)
Müller, Marcus GerhardGerman Aerospace Center
Brunner, Sebastian GeorgDLR German Aerospace Center, Robotics and Mechatronics Center
Lehner, HannahGerman Aerospace Center (DLR)
Lehner, PeterGerman Aerospace Center (DLR)
Sakagami, RyoGerman Aerospace Center (DLR)
Dömel, AndreasGerman Aerospace Center (DLR)
Meyer, LukasGerman Aerospace Center (DLR)
Vodermayer, BernhardGerman Aerospace Center (DLR)
Giubilato, RiccardoGerman Aerospace Center (DLR)
Vayugundla, MallikarjunaDLR (German Aerospace Center)
Reill, JosephGerman Aerospace Center (DLR)
Steidle, FlorianGerman Aerospace Center
von Bargen, IngoGerman Aerospace Center (DLR)
Bussmann, KristinGerman Aerospace Center (DLR)
Belder, RicoGerman Aerospace Center
Lutz, PhilippGerman Aerospace Center (DLR)
Stuerzl, WolfgangDLR, Institute of Robotics and Mechantronics
Smisek, MichalGerman Aerospace Center (DLR)
Maier, MoritzGerman Aerospace Center (DLR)
Stoneman, SamanthaDLR (German Space Center)
Fonseca Prince, AndreGerman Aerospace Center (DLR)
Rebele, BernhardGerman Aerospace Center (DLR)
Durner, MaximilianGerman Aerospace Center DLR
Staudinger, EmanuelDLR
Zhang, SiweiGerman Aerospace Center (DLR)
Pöhlmann, RobertGerman Aerospace Center (DLR)
Bischoff, EstherKarlsruhe Institute of Technology (KIT)
Braun, ChristianKarlsruhe Institute of Technology (KIT)
Schröder, SusanneGerman Aerospace Center (DLR)
Dietz, EnricoGerman Aerospace Center (DLR)
Frohmann, SvenGerman Aerospace Center (DLR)
Börner, AnkoDLR
Hübers, Heinz-WilhelmGerman Aerospace Center (DLR)
Foing, BernardEuropean Space Agency (ESA)
Triebel, RudolphGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aerospace Center
Wedler, ArminDLR - German Aerospace Center
 
13:00-13:15, Paper MoBT7.6 
A Routing Framework for Heterogeneous Multi-Robot Teams in Exploration Tasks
 Video Attachment

Sakamoto, TakumaThe University of Tokyo
Bonardi, StephaneInstitute of Space and Astronautical Science (ISAS), Japan Aeros
Kubota, TakashiJAXA ISAS
 
MoBT8 Room T8
AI and Learning for Autonomous Driving Applications Regular session
Chair: Pillai, SudeepToyota Research Institute
 
11:45-12:00, Paper MoBT8.1 
Accurate, Low-Latency Visual Perception for Autonomous Racing: Challenges, Mechanisms, and Practical Solutions

Strobel, KieranMIT
Zhu, SiboBrandeis University
Chang, RaphaelMassachusetts Institute of Technology
Koppula, SkandaGoogle DeepMind
 
12:00-12:15, Paper MoBT8.2 
Spatio-Temporal Ultrasonic Dataset: Learning Driving from Spatial and Temporal Ultrasonic Cues

Wang, ShuaiUniversity of Science and Technology of China
Qin, JiahuUniversity of Science and Technology of China
Zhang, ZhanpengUniversity of Science and Technology of China
 
12:15-12:30, Paper MoBT8.3 
A POMDP Treatment of Vehicle-Pedestrian Interaction: Implicit Coordination Via Uncertainty-Aware Planning

Hsu, Ya-ChuanTexas A&M University
Gopalswamy, SwaminathanTexas A&M University
Saripalli, SrikanthTexas A&M
Shell, DylanTexas A&M University
 
12:30-12:45, Paper MoBT8.4 
Multiple Trajectory Prediction with Deep Temporal and Spatial Convolutional Neural Networks

Strohbeck, JanUlm University
Belagiannis, VasileiosUniversität Ulm
Müller, JohannesUlm University
Schreiber, MarcelUlm University
Herrmann, MartinUlm University
Wolf, DanielUlm University
Buchholz, MichaelUniversity of Ulm
 
12:45-13:00, Paper MoBT8.5 
End-To-End Autonomous Driving Perception with Sequential Latent Representation Learning

Chen, JianyuUC Berkeley
Xu, ZhuoUC Berkeley
Tomizuka, MasayoshiUniversity of California
 
13:00-13:15, Paper MoBT8.6 
PillarFlow: End-To-End Birds-Eye-View Flow Estimation for Autonomous Driving
 Video Attachment

Lee, Kuan-HuiToyota Research Institute
Kliemann, MatthewToyota Research Institute
Gaidon, AdrienToyota Research Institute
Li, JieUniversity of Michigan
Fang, ChaoToyota Research Institute
Pillai, SudeepToyota Research Institute
Burgard, WolframToyota Research Institute
 
MoBT9 Room T9
Autonomous Vehicles: Behavior Regular session
Chair: Borges, Paulo Vinicius KoerichCSIRO
 
11:45-12:00, Paper MoBT9.1 
Real-Time Detection of Distracted Driving Using Dual Cameras

Tran, DuyOklahoma State University
Do, Ha ManhOklahoma State University
Lu, JiaxingOklahoma State University
Sheng, WeihuaOklahoma State University
 
12:00-12:15, Paper MoBT9.2 
Expressing Diverse Human Driving Behavior with ProbabilisticRewards and Online Inference

Sun, LitingUniversity of California, Berkeley
Wu, ZhengUniversity of California, Berkeley
Ma, HengboUniversity of California, Berkeley
Tomizuka, MasayoshiUniversity of California
 
12:15-12:30, Paper MoBT9.3 
Identification of Effective Motion Primitives for Ground Vehicles

Löw, TobiasETH Zürich
Bandyopadhyay, TirthankarCSIRO
Borges, Paulo Vinicius KoerichCSIRO
 
12:30-12:45, Paper MoBT9.4 
CMetric: A Driving Behavior Measure Using Centrality Functions
 Video Attachment

Chandra, RohanUniversity of Maryland
Bhattacharya, UttaranUMD College Park
Mittal, TrishaUniversity of Maryland, College Park
Bera, AniketUniversity of Maryland
Manocha, DineshUniversity of Maryland
 
12:45-13:00, Paper MoBT9.5 
Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs

Chandra, RohanUniversity of Maryland
Guan, TianruiUniversity of Maryland
Panuganti, SrujanUniversity of Maryland, College Park
Mittal, TrishaUniversity of Maryland, College Park
Bhattacharya, UttaranUMD College Park
Bera, AniketUniversity of Maryland
Manocha, DineshUniversity of Maryland
 
MoBT10 Room T10
Autonomous Vehicles: Mapping Regular session
Chair: Tombari, FedericoTechnische Universität München
Co-Chair: Liu, LantaoIndiana University
 
11:45-12:00, Paper MoBT10.1 
Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
 Video Attachment

Sun, ZezhouNanjing University of Science and Technology
Wu, BangheNanjing University of Science and Technology
Xu, Cheng-ZhongUniversity of Macau
Sarma, Sanjay E.MIT
Yang, JianNanjing University of Science & Technology
Kong, HuiNanjing University of Science and Technology
 
12:00-12:15, Paper MoBT10.2 
Probabilistic Semantic Mapping for Urban Autonomous Driving Applications
 Video Attachment

Paz, DavidUniversity of California, San Diego
Zhang, HengyuanUniversity of California, San Diego
Li, QinruUniversity of California San Diego
Xiang, HaoUniversity of California, San Diego
Christensen, Henrik IskovUC San Diego
 
12:15-12:30, Paper MoBT10.3 
City-Scale Grid-Topological Hybrid Maps for Autonomous Mobile Robot Navigation in Urban Area
 Video Attachment

Niijima, ShunTokyo University of Science, National Institute of Advanced Indu
Umeyama, RyusukeTokyo University of Science
Sasaki, YokoNational Inst. of Advanced Industrial Science and Technology
Mizoguchi, HiroshiTokyo University of Science
 
12:30-12:45, Paper MoBT10.4 
State-Continuity Approximation of Markov Decision Processes Via Finite Element Methods for Autonomous System Planning

Xu, JunhongIndiana University
Yin, KaiHomeAway
Liu, LantaoIndiana University
 
12:45-13:00, Paper MoBT10.5 
APPLD: Adaptive Planner Parameter Learning from Demonstration
 Video Attachment

Xiao, XuesuThe University of Texas at Austin
Liu, BoUniversity of Texas at Austin
Warnell, GarrettU.S. Army Research Laboratory
Fink, JonathanUS Army Research Laborator
Stone, PeterUniversity of Texas at Austin
 
13:00-13:15, Paper MoBT10.6 
Explicit Domain Adaptation with Loosely Coupled Samples
 Video Attachment

Scheel, OliverBMW Group
Schwarz, LorenBMW Group
Navab, NassirTU Munich
Tombari, FedericoTechnische Universität München
 
MoBT11 Room T11
Autonomous Vehicles: Navigation I Regular session
Chair: Zhang, ShiqiSUNY Binghamton
Co-Chair: Johnson-Roberson, MatthewUniversity of Michigan
 
11:45-12:00, Paper MoBT11.1 
SCALE-Net: Scalable Vehicle Trajectory Prediction Network under Random Number of Interacting Vehicles Via Edge-Enhanced Graph Convolutional Neural Network
 Video Attachment

Jeon, HyeongseokKorea Advanced Institute of Science and Technology (KAIST)
Choi, Jun-WonHanyang University
Kum, DongsukKAIST
 
12:00-12:15, Paper MoBT11.2 
Behaviorally Diverse Traffic Simulation Via Reinforcement Learning
 Video Attachment

Shiroshita, ShinyaPreferred Networks, Inc
Maruyama, ShirouPreferred Networks, Inc
Nishiyama, DaisukePreferred Networks, Inc
Ynocente Castro, MarioPreferred Networks, Inc
Hamzaoui, KarimPreferred Networks Inc
Rosman, GuyMassachusetts Institute of Technology
DeCastro, JonathanCornell University
Lee, Kuan-HuiToyota Research Institute
Gaidon, AdrienToyota Research Institute
 
12:15-12:30, Paper MoBT11.3 
Predictive Runtime Monitoring of Vehicle Models Using Bayesian Estimation and Reachability Analysis
 Video Attachment

Chou, YiUniversity of Colorado, Boulder
Yoon, HansolUniversity of Colorado Boulder
Sankaranarayanan, SriramUniversity of Colorado, Boulder
 
12:30-12:45, Paper MoBT11.4 
Task-Motion Planning for Safe and Efficient Urban Driving
 Video Attachment

Ding, YanSUNY Binghamton
Zhang, XiaohanSUNY Binghamton
Zhan, XingyueBinghamton University
Zhang, ShiqiSUNY Binghamton
 
12:45-13:00, Paper MoBT11.5 
Feedback Enhanced Motion Planning for Autonomous Vehicles
 Video Attachment

Sun, KeUniversity of Pennsylvania
Schlotfeldt, BrentUniversity of Pennsylvania
Chaves, StephenQualcomm Research Philadelphia
Martin, PaulQualcomm
Mandhyan, GulshanQualcomm
Kumar, VijayUniversity of Pennsylvania, School of Engineering and Applied Sc
 
13:00-13:15, Paper MoBT11.6 
Low Latency Trajectory Predictions for Interaction Aware Highway Driving

Anderson, CyrusUniversity of Michigan
Vasudevan, RamUniversity of Michigan
Johnson-Roberson, MatthewUniversity of Michigan
 
13:00-13:15, Paper MoBT11.7 
Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force
 Video Attachment

Kojima, ShotaroTohoku University
Ohno, KazunoriTohoku University
Suzuki, TakahiroTohoku University
Okada, YoshitoTohoku University
Westfechtel, ThomasTohoku University
Tadokoro, SatoshiTohoku University
 
MoBT12 Room T12
Autonomous Vehicles: Navigation II Regular session
Chair: Bezzo, NicolaUniversity of Virginia
Co-Chair: Miao, FeiUniversity of Connecticut
 
11:45-12:00, Paper MoBT12.1 
GndNet: Fast Ground Plane Estimation and Point Cloud Segmentation for Autonomous Vehicles
 Video Attachment

Paigwar, AnshulInstitut National De Recherche En Informatique Et En Automatique
Erkent, OzgurInria
Sierra-Gonzalez, DavidInria Grenoble Rhône-Alpes
Laugier, ChristianINRIA
 
12:00-12:15, Paper MoBT12.2 
Intelligent Exploration and Autonomous Navigation in Confined Spaces
 Video Attachment

Akbari, AliakbarRoyal Holloway University of London
Chhabra, Puneet SinghHeadlight AI Limited
Bhandari, UjjarHeadlight AI Limited
Bernardini, SaraRoyal Holloway University of London
 
12:15-12:30, Paper MoBT12.3 
Data-Driven Distributionally Robust Electric Vehicle Balancing for Mobility-On-Demand Systems under Demand and Supply Uncertainties

He, SihongUniversity of Connecticut
Pepin, LynnUniversity of Connecticut
Guang, WangRutgers University
Zhang, DeshengRutgers University
Miao, FeiUniversity of Connecticut
 
12:30-12:45, Paper MoBT12.4 
GP-Based Runtime Planning, Learning, and Recovery for Safe UAV Operations under Unforeseen Disturbances
 Video Attachment

Yel, EsenUniversity of Virginia
Bezzo, NicolaUniversity of Virginia
 
12:45-13:00, Paper MoBT12.5 
DiversityGAN: Diversity-Aware Vehicle Motion Prediction Via Latent Semantic Sampling
 Video Attachment

Huang, XinMIT
McGill, StephenToyota Research Institute
DeCastro, JonathanCornell University
Fletcher, LukeToyota Research Institute
Leonard, JohnMIT
Williams, BrianMIT
Rosman, GuyMassachusetts Institute of Technology
 
13:00-13:15, Paper MoBT12.6 
Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning with Application to Autonomous Driving

Wu, ZhengUniversity of California, Berkeley
Sun, LitingUniversity of California, Berkeley
Zhan, WeiUniveristy of California, Berkeley
Yang, ChenyuShanghai Jiao Tong University(SJTU)
Tomizuka, MasayoshiUniversity of California
 
MoBT13 Room T13
Autonomous Vehicles: Planning & Environment Regular session
Chair: Kong, YuRochester Institute of Technology
Co-Chair: Azaria, AmosComputer Science Department, Ariel
 
11:45-12:00, Paper MoBT13.1 
Object-Aware Centroid Voting for Monocular 3D Object Detection
 Video Attachment

Bao, WentaoRochester Institute of Technology
Yu, QiRochester Institute of Technology
Kong, YuRochester Institute of Technology
 
12:00-12:15, Paper MoBT13.2 
Estimating Pedestrian Crossing States Based on Single 2D Body Pose

Wang, ZixingUniversity of Minnesota
Papanikolopoulos, NikosUniversity of Minnesota
 
12:15-12:30, Paper MoBT13.3 
SSP: Single Shot Future Trajectory Prediction

Dwivedi, IshtHonda Research Institute USA
Malla, SrikanthHonda Research Institute
Dariush, BehzadHonda Research Institute USA
Choi, ChihoHonda Research Institute
 
12:30-12:45, Paper MoBT13.4 
Probabilistic Crowd GAN: Multimodal Pedestrian Trajectory Prediction Using a Graph Vehicle-Pedestrian Attention Network
 Video Attachment

Eiffert, StuartThe University of Sydney: The Australian Centre for Field Roboti
Li, KunmingUniversity of Sydney
Shan, MaoThe University of Sydney
Worrall, StewartUniversity of Sydney
Sukkarieh, SalahThe University of Sydney: The Australian Centre for Field Roboti
Nebot, EduardoUnversity of Sydney
 
12:45-13:00, Paper MoBT13.5 
Model-Based Reinforcement Learning for Time-Optimal Velocity Control

Hartmann, GabrielAriel University
Shiller, ZviAriel University
Azaria, AmosComputer Science Department, Ariel
 
13:00-13:15, Paper MoBT13.6 
Learning Hierarchical Behavior and Motion Planning for Autonomous Driving
 Video Attachment

Wang, JingkeZhejiang University
Wang, YueZhejiang University
Zhang, DongkunZhejiang University
Yang, YezhouArizona State University
Xiong, RongZhejiang University
 
MoBT14 Room T14
Autonomous Vehicles: Safety & Systems Regular session
Chair: Berman, SpringArizona State University
Co-Chair: Zhao, DingCarnegie Mellon University
 
11:45-12:00, Paper MoBT14.1 
Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method
 Video Attachment

Ding, WenhaoCarnegie Mellon University
Chen, BaimingTsinghua University
Xu, MinjunCarnegie Mellon University
Zhao, DingCarnegie Mellon University
 
12:00-12:15, Paper MoBT14.2 
Synchrono: A Scalable, Physics-Based Simulation Platform for Testing Groups of Autonomous Vehicles And/or Robots

Taves, JayUniversity of Wisconsin–Madison
Elmquist, AsherUniversity of Wisconsin-Madison
Young, AaronUniversity of Wisconsin–Madison
Serban, RaduUniversity of Wisconsin - Madison
Negrut, DanUniversity of Wisconsin
 
12:15-12:30, Paper MoBT14.3 
Output Only Fault Detection and Mitigation of Networks of Autonomous Vehicles
 Video Attachment

Khalil, AbdelrahmanMemorial University of Newfoundland
Al Janaideh, MohammadMemorial University &University of Toronto
Aljanaideh, KhaledJordan University of Science and Technology
Kundur, DeepaUniversity of Toronto
 
12:30-12:45, Paper MoBT14.4 
Go-CHART: A Miniature Remotely Accessible Self-Driving Car Robot
 Video Attachment

Kannapiran, ShenbagarajArizona State University
Berman, SpringArizona State University
 
MoBT15 Room T15
Autonomous Vehicles: Sensors Regular session
Chair: Urtasun, RaquelUniversity of Toronto
Co-Chair: Bonnabel, SilvereMines ParisTech
 
11:45-12:00, Paper MoBT15.1 
An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking
 Video Attachment

Gosala, Nikhil BharadwajETH Zürich
Meng, XiaoliAPTIV AM
 
12:00-12:15, Paper MoBT15.2 
Lidar Essential Beam Model for Accurate Width Estimation of Thin Poles
 Video Attachment

Long, YunfeiMichigan State University
Morris, DanielMichigan State University
 
12:15-12:30, Paper MoBT15.3 
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
 Video Attachment

Chen, KeNvidia
Smolyanskiy, NikolaiNVIDIA
Oldja, RyanNVIDIA
Birchfield, StanNVIDIA Corporation
Popov, Alexander (Sasha)CSE, UMN
Wehr, DavidNVIDIA
Eden, IbrahimNVIDIA
Pehserl, JoachimMicrosoft
 
12:30-12:45, Paper MoBT15.4 
The Importance of Prior Knowledge in Precise Multimodal Prediction
 Video Attachment

Casas Romero, SergioUber ATG, University of Toronto
Gulino, ColeUber ATG
Suo, SimonUniversity of Toronto
Urtasun, RaquelUniversity of Toronto
 
12:45-13:00, Paper MoBT15.5 
Simultaneous Estimation of Vehicle Position and Data Delays Using Gaussian Process Based Moving Horizon Estimation

Mori, DaikiToyota Central R&D Labs. Inc
Hattori, YoshikazuToyota Central Research and Development Laboratories, Inc
 
13:00-13:15, Paper MoBT15.6 
A Real-Time Unscented Kalman Filter on Manifolds for Challenging AUV Navigation

Cantelobre, TheophileMines ParisTech
Chahbazian, ClémentSchlumberger-Doll Research
Croux, ArnaudSchlumberger-Doll Research
Bonnabel, SilvereMines ParisTech
 
MoBT16 Room T16
Perception for Autonomous Driving Regular session
Chair: Xiang, ZhiyuZhejiang University
 
11:45-12:00, Paper MoBT16.1 
DSSF-Net: Dual-Task Segmentation and Self-Supervised Fitting Network for End-To-End Lane Mark Detection

Du, WentaoZhejiang University
Xiang, ZhiyuZhejiang University
Chen, YimanZhejiang University
Chen, ShuyaZhejiang University
 
12:00-12:15, Paper MoBT16.2 
Lane Marking Verification for High Definition Map Maintenance Using Crowdsourced Images

Li, BinbinTexas A&M University
Song, DezhenTexas A&M University
Kingery, AaronTexas A&M University
Zheng, DongfangTencent
Xu, YiliangTencent America
Guo, HuiwenTencent America
 
12:15-12:30, Paper MoBT16.3 
Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications
 Video Attachment

Xue, FengTongji University, Shanghai
Zhuo, GuirongTongji University, Shanghai
Huang, ZiyuanNational Universitu of Singapore
Fu, WufeiTongji University
Wu, ZhuoyueTongji University
Ang Jr, Marcelo HNational University of Singapore
 
12:30-12:45, Paper MoBT16.4 
Label Efficient Visual Abstractions for Autonomous Driving
 Video Attachment

Behl, AseemMPI Tübingen
Chitta, KashyapMax Planck Institute for Intelligent Systems
Prakash, AdityaMax Planck Institute for Intelligent Systems
Ohn-Bar, EshedMax Planck Institute
Geiger, AndreasMax Planck Institute for Intelligent Systems, Tübingen
 
12:45-13:00, Paper MoBT16.5 
Learning Accurate and Human-Like Driving Using Semantic Maps and Attention

Hecker, SimonETH Zurich
Dai, DengxinETH Zurich
Liniger, AlexanderETH Zurich
Hahner, MartinETH Zurich
Van Gool, LucETH Zurich
 
13:00-13:15, Paper MoBT16.6 
IDDA: A Large-Scale Multi-Domain Dataset for Autonomous Driving

Alberti, EmanuelePolitecnico Di Torino
Tavera, AntonioPolitecnico Di Torino
Masone, CarloMax Planck Institute for Biological Cybernetics
Caputo, BarbaraSapienza University
 
MoBT17 Room T17
Planning for Autonomous Vehicles I Regular session
Chair: Haddon, DavidCSIRO
Co-Chair: Jiang, JingjingLoughborough University
 
11:45-12:00, Paper MoBT17.1 
PaintPath: Defining Path Directionality in Maps for AutonomousGround Vehicles

Bowyer, RileyCSIRO
Lowe, TomCSIRO
Borges, Paulo Vinicius KoerichCSIRO
Bandyopadhyay, TirthankarCSIRO
Löw, TobiasETH Zürich
Haddon, DavidCSIRO
 
12:00-12:15, Paper MoBT17.2 
Probabilistic Multi-Modal Trajectory Prediction with Lane Attention for Autonomous Vehicles

Luo, ChenxuJohns Hopkins University
Sun, LinHKUST, Stanford, Samsung
Dabiri, DariushSamsung Electronics
Yuille, AlanJohns Hopkins University
 
12:15-12:30, Paper MoBT17.3 
Safe Planning for Self-Driving Via Adaptive Constrained ILQR
 Video Attachment

Pan, YanjunCarnegie Mellon University
Lin, QinCarnegie Mellon University
Shah, HetIndian Institute of Technology Kharagpur
Dolan, John M.Carnegie Mellon University
 
12:30-12:45, Paper MoBT17.4 
Automatic Lane Change Maneuver in Dynamic Environment Using Model Predictive Control Method

Li, ZhaolunLoughborough University
Jiang, JingjingLoughborough University
Chen, Wen-HuaLoughborough University
 
12:45-13:00, Paper MoBT17.5 
Real-Time Optimal Control of an Autonomous RC Car with Minimum-Time Maneuvers and a Novel Kineto-Dynamical Model
 Video Attachment

Pagot, EdoardoUniversity of Trento
Piccinini, MattiaUniversity of Trento
Biral, FrancescoUniversity of Trento
 
MoBT18 Room T18
Planning for Autonomous Vehicles II Regular session
Chair: Liu, LantaoIndiana University
Co-Chair: Bopardikar, Shaunak D.Michigan State University
 
11:45-12:00, Paper MoBT18.1 
Optimization-Based Hierarchical Motion Planning for Autonomous Racing
 Video Attachment

Vazquez, JoseETH Zürich
Bruehlmeier, MariusETH Zürich
Liniger, AlexanderETH Zurich
Rupenyan, AlisaETH Zürich
Lygeros, JohnETH Zurich
 
12:00-12:15, Paper MoBT18.2 
Secure Route Planning Using Dynamic Games with Stopping States
 Video Attachment

Banik, SandeepMichigan State University
Bopardikar, Shaunak D.Michigan State University
 
12:15-12:30, Paper MoBT18.3 
Online Planning in Uncertain and Dynamic Environment in the Presence of Multiple Mobile Vesicles

Xu, JunhongIndiana University
Yin, KaiHomeAway
Liu, LantaoIndiana University
 
12:30-12:45, Paper MoBT18.4 
Minimum Time - Minimum Jerk Optimal Traffic Management for AGVs
 Video Attachment

Frego, MarcoUniversity of Trento
Bevilacqua, PaoloUniversity of Trento
Divan, StefanoUniversity of Trento
Zenatti, FabianoUniversity of Trento
Palopoli, LuigiUniversity of Trento
Biral, FrancescoUniversity of Trento
Fontanelli, DanieleUniversity of Trento
 
12:45-13:00, Paper MoBT18.5 
Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles under Agent Uncertainty

Wang, AllenMassachusetts Institute of Technology
M. Jasour, AshkanMIT
Williams, BrianMIT
 
MoBT20 Room T20
IROS Original Series Special Forum
Chair: Hauert, SabineUniversity of Bristol
 
11:45-12:00, Paper MoBT20.1 
Real Roboticist - Michelle Johnson - Robots That Matter

Hauert, SabineUniversity of Bristol
 
12:00-12:15, Paper MoBT20.2 
Real Roboticist - Davide Scaramuzza - Drones & Magic

Hauert, SabineUniversity of Bristol
 
12:15-12:30, Paper MoBT20.3 
Real Roboticist - Dennis Hong - Making People Happy

Hauert, SabineUniversity of Bristol
 
12:30-12:45, Paper MoBT20.4 
Real Roboticist - Ruzena Bajczy - Foundations

Hauert, SabineUniversity of Bristol
 
12:45-13:00, Paper MoBT20.5 
Real Roboticist - Peter Corke - Learning

Hauert, SabineUniversity of Bristol
 
MoBT21 Room T21
BiR-IROS: Black in Robotics IROS 2020 Special Forum
Chair: Howard, AyannaGeorgia Institute of Technology
 
11:45-12:00, Paper MoBT21.1 
BiR-IROS Launch Event

Howard, AyannaGeorgia Institute of Technology
 
12:00-12:15, Paper MoBT21.2 
BiR Student Event

Howard, AyannaGeorgia Institute of Technology
 
12:15-12:30, Paper MoBT21.3 
BiR Allies Engagement Event

Howard, AyannaGeorgia Institute of Technology
 
MoBT22 Room T22
Cynthia Breazeal - Supplemental Videos Special Forum
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
 
11:45-12:00, Paper MoBT22.1 
Cynthia Breazeal - Supplemental Video 1

Breazeal, CynthiaMIT
 
12:00-12:15, Paper MoBT22.2 
Cynthia Breazeal - Supplemental Video 2

Breazeal, CynthiaMIT
 
12:15-12:30, Paper MoBT22.3 
Cynthia Breazeal - Supplemental Video 3

Breazeal, CynthiaMIT
 
12:30-12:45, Paper MoBT22.4 
Cynthia Breazeal - Supplemental Video 4

Breazeal, CynthiaMIT
 
12:45-13:00, Paper MoBT22.5 
Cynthia Breazeal - Supplemental Video 5

Breazeal, CynthiaMIT
 
13:00-13:15, Paper MoBT22.6 
Cynthia Breazeal - Supplemental Video 6

Breazeal, CynthiaMIT
 
MoCT1 Room T1
Agricultural Automation Regular session
Chair: Williams, RyanVirginia Polytechnic Institute and State University
Co-Chair: Stachniss, CyrillUniversity of Bonn
 
14:00-14:15, Paper MoCT1.1 
Segmentation-Based 4D Registration of Plants Point Clouds for Phenotyping

Magistri, FedericoUniversity of Bonn
Chebrolu, NivedUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
 
14:15-14:30, Paper MoCT1.2 
Incorporating Spatial Constraints into a Bayesian Tracking Framework for Improved Localisation in Agricultural Environments

Khan, Muhammad Waqas KhanUniversity of Lincoln
Das, GauthamUniversity of Lincoln
Hanheide, MarcUniversity of Lincoln
Cielniak, GrzegorzUniversity of Lincoln
 
14:30-14:45, Paper MoCT1.3 
Learning Continuous Object Representations from Point Cloud Data

Henry, NelsonCSE, UMN
Papanikolopoulos, NikosUniversity of Minnesota
 
14:45-15:00, Paper MoCT1.4 
Solving Large-Scale Stochastic Orienteering Problems with Aggregation

Thayer, Thomas C.University of California, Merced
Carpin, StefanoUniversity of California, Merced
 
15:00-15:15, Paper MoCT1.5 
DIAT (Depth-Infrared Image Annotation Transfer) for Training a Depth-Based Pig-Pose Detector
 Video Attachment

Yik, StevenMichigan State University
Benjamin, MadonnaMichigan State University
Lavagnino, MichaelMichigan State University
Morris, DanielMichigan State University
 
15:15-15:30, Paper MoCT1.6 
Data-Driven Models with Expert Influence: A Hybrid Approach to Spatiotemporal Process Estimation

Liu, JunVirginia Tech
Williams, RyanVirginia Polytechnic Institute and State University
 
MoCT2 Room T2
Environment Monitoring Regular session
Chair: Triebel, RudolphGerman Aerospace Center (DLR)
Co-Chair: Kovac, MirkoImperial College London
 
14:00-14:15, Paper MoCT2.1 
Robust MUSIC-Based Sound Source Localization in Reverberant and Echoic Environments
 Video Attachment

Sewtz, MarcoDeutsches Zentrum Für Luft Und Raumfahrt E.V
Bodenmueller, TimGerman Aerospace Center (DLR)
Triebel, RudolphGerman Aerospace Center (DLR)
 
14:15-14:30, Paper MoCT2.2 
OceanVoy: A Hybrid Energy Planning System for Autonomous Sailboat
 Video Attachment

Sun, QinboThe Chinese Univeristy of Hong Kong, Shenzhen
Qi, WeiminThe Chinese University of Hong Kong, Shenzhen
Liu, HengliPeng Cheng Laboratory, Shenzhen
Sun, ZhenglongChinese University of Hong Kong, Shenzhen
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
Qian, HuihuanShenzhen Institute of Artificial Intelligence and Robotics for S
 
14:30-14:45, Paper MoCT2.3 
LAVAPilot: Lightweight UAVTrajectory Planner with Situational Awarenessfor Embedded Autonomy to Track and Locate Radio-Tags
 Video Attachment

Nguyen, Hoa VanThe University of Adelaide
Chen, FeiThe University of Adelaide
Chesser, JoshuaThe University of Adelaide
Rezatofighi, S. HamidThe University of Adelaide
Ranasinghe, DamithThe University of Adelaide
 
14:45-15:00, Paper MoCT2.4 
Coordinate-Free Isoline Tracking in Unknown 2-D Scalar Fields

Dong, FeiTsinghua University
You, KeyouTsinghua University
Wang, JianTsinghua Univ
 
15:15-15:30, Paper MoCT2.7 
MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition
 Video Attachment

Debruyn, DiegoImperial College London
Zufferey, RaphaelImperial College of London
Armanini, Sophie FranziskaImperial College London
Winston, CrystalImperial College London
Farinha, AndreImperial College
Jin, YufeiImperial College London
Kovac, MirkoImperial College London
 
MoCT3 Room T3
Field Robots Regular session
Chair: Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
Co-Chair: Detweiler, CarrickUniversity of Nebraska-Lincoln
 
14:00-14:15, Paper MoCT3.1 
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
 Video Attachment

Viswanathan, VaibhavCarnegie Mellon University
Dexheimer, EricCarnegie Mellon University
Li, GuanruiNew York University
Loianno, GiuseppeNew York University
Kaess, MichaelCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
14:15-14:30, Paper MoCT3.2 
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
 Video Attachment

Bouman, AmandaCaltech
Ginting, Muhammad FadhilJet Propulsion Laboratory
Alatur, NikhileshETH Zurich
Palieri, MatteoPolytechnic University of Bari
Fan, David DGeorgia Institute of Technology
Kim, Sung-KyunNASA Jet Propulsion Laboratory, Caltech
Touma, ThomasCaltech
Pailevanian, TorkomJet Propulsion Laboratory
Otsu, KyoheiCalifornia Institute of Technology
Burdick, JoelCalifornia Institute of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
 
14:30-14:45, Paper MoCT3.3 
Towards In-Flight Transfer of Payloads between Multirotors
 Video Attachment

Shankar, AjayUniversity of Nebraska-Lincoln
Elbaum, SebastianUniversity of Virginia
Detweiler, CarrickUniversity of Nebraska-Lincoln
 
14:45-15:00, Paper MoCT3.4 
Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator

Matsubara, KazukiTohoku University
Nagatani, KeijiThe University of Tokyo
Hirata, YasuhisaTohoku University
 
15:00-15:15, Paper MoCT3.5 
Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches

Salazar Luces, Jose VictorioTohoku University
Hoshi, ManamiTohoku University
Hirata, YasuhisaTohoku University
 
15:15-15:30, Paper MoCT3.6 
End-To-End Velocity Estimation for Autonomous Racing

Srinivasan, SirishETH Zürich
Sa, InkyuCSIRO
Zyner, AlexThe University of Sydney
Reijgwart, VictorETH Zurich
de la Iglesia Valls, MiguelETH Zürich
Siegwart, RolandETH Zurich
 
MoCT4 Room T4
Wheeled Robots Regular session
Chair: La, HungUniversity of Nevada at Reno
Co-Chair: Yamaguchi, TomoyukiUniversity of Tsukuba
 
14:00-14:15, Paper MoCT4.1 
RoVaLL: Design and Development of a Multi-Terrain Towed Robot with Variable Lug-Length Wheels
 Video Attachment

Salazar Luces, Jose VictorioTohoku University
Matsuzaki, ShinTohoku University
Hirata, YasuhisaTohoku University
 
14:15-14:30, Paper MoCT4.2 
Modeling and Control of a Hybrid Wheeled Jumping Robot
 Video Attachment

Dinev, TraikoThe University of Edinburgh
Xin, SongyanThe University of Edinburgh
Merkt, Wolfgang XaverUniversity of Oxford
Ivan, VladimirUniversity of Edinburgh
Vijayakumar, SethuUniversity of Edinburgh
 
14:30-14:45, Paper MoCT4.3 
Ospheel: Design of an Omnidirectional Spherical-Sectioned Wheel
 Video Attachment

Hayat, Abdullah AamirSingapore University of Technology and Design
Shi, YuyaoSUTD
Elangovan, KarthikeyanSingapore University of Technology and Design
Elara, Mohan RajeshSingapore University of Technology and Design
Abdulkader, Raihan EnjikalayilSingapore University of Technology and Design
 
14:45-15:00, Paper MoCT4.4 
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
 Video Attachment

Gonzalez, DanielUnited States Military Academy at West Point
Lesak, Mark C.United States Military Academy
Rodriguez, AndresUnited States Military Academy
Cymerman, JosephDepartment of Civil and Mechanical Engineering, United States Mi
Korpela, Christopher M.United States Military Academy at West Point
 
15:00-15:15, Paper MoCT4.5 
Control Framework for a Hybrid-Steel Bridge Inspection Robot
 Video Attachment

Bui, Hoang-DungUniversity of Nevada Reno
Nguyen, SonUniversity of Nevada, Reno
Billah, Umme-HafsaUniversity of Nevada, Reno
Le, ChuongUniversity of Oklahoma
Tavakkoli, AlirezaUniversity of Nevada, Reno
La, HungUniversity of Nevada at Reno
 
15:15-15:30, Paper MoCT4.6 
Development of a Steep Slope Mobile Robot with Propulsion Adhesion

Nishimura, YukiUniversity of Tsukuba
Yamaguchi, TomoyukiUniversity of Tsukuba
 
15:15-15:30, Paper MoCT4.7 
Definition and Application of Variable Resistance Coefficient for Wheeled Mobile Robots on Deformable Terrain (I)

Ding, LiangHarbin Institute of Technology
Huang, LanHarbin Institute of Technology
Li, ShuHarbin Institute of Technology
Gao, HaiboHarbin Institute of Technology
Deng, HuichaoBeihang university
Li, YuankaiDepartment of Aerospace Engineering, Ryerson University
Liu, GuangjunRyerson University
 
MoCT5 Room T5
Robotics in Agriculture and Forestry Regular session
Chair: Tokekar, PratapUniversity of Maryland
Co-Chair: Isler, VolkanUniversity of Minnesota
 
14:00-14:15, Paper MoCT5.1 
Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking
 Video Attachment

Mghames, SariahUniversity of Lincoln
Hanheide, MarcUniversity of Lincoln
Ghalamzan Esfahani, Amir MasoudUniversity of Lincoln
 
14:15-14:30, Paper MoCT5.2 
Robotic Untangling of Herbs and Salads with Parallel Grippers
 Video Attachment

Ray, PrabhakarKing's College London
Howard, MatthewKing's College London
 
14:30-14:45, Paper MoCT5.3 
Choosing Classification Thresholds for Mobile Robot Coverage

Maini, ParikshitUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
 
14:45-15:00, Paper MoCT5.4 
Unsupervised Domain Adaptation for Transferring Plant Classification Systems to New Field Environments, Crops, and Robots

Gogoll, DarioUniversity of Bonn
Lottes, PhilippUniversity of Bonn
Weyler, JanUniversity of Bonn
Petrinic, NikUniversity of Oxford
Stachniss, CyrillUniversity of Bonn
 
15:00-15:15, Paper MoCT5.5 
Crop Height and Plot Estimation for Phenotyping from Unmanned Aerial Vehicles Using 3D LiDAR
 Video Attachment

Dhami, HarnaikUniversity of Maryland
Yu, KevinVirginia Tech
Xu, TianshuUniversity of Maryland
Zhu, QianVirginia Tech
Dhakal, KshitizVirginia Tech
Friel, JamesVirginia Tech
Li, SongVirginia Tech
Tokekar, PratapUniversity of Maryland
 
MoCT6 Room T6
Robotics in Construction I Regular session
Chair: Lee, DongjunSeoul National University
Co-Chair: Liu, YunhuiChinese University of Hong Kong
 
14:00-14:15, Paper MoCT6.1 
A Robotic Gripper Design and Integrated Solution towards Tunnel Boring Construction Equipment
 Video Attachment

Yuan, JianjunShanghai University, China
Guan, RenmingShanghai Jiao Tong University
Du, LiangRitsumeikan University
Ma, ShugenRitsumeikan University
 
14:15-14:30, Paper MoCT6.2 
Expert-Emulating Excavation Trajectory Planning for Autonomous Robotic Industrial Excavator
 Video Attachment

Son, BukunSeoul National University
Kim, ChangUSeoul National University
Kim, ChangMukSeoul National University, Doosan
Lee, DongjunSeoul National University
 
14:30-14:45, Paper MoCT6.3 
Prediction of Backhoe Loading Motion Via the Beta-Process Hidden Markov Model
 Video Attachment

Yamada, KentoTohoku Univ
Ohno, KazunoriTohoku University
Hamada, RyunosukeTohoku University
Westfechtel, ThomasTohoku University
Bezerra, RanulfoTohoku University
Miyamoto, NaotoTohoku Univ
Suzuki, TaroChiba Institute of Technology
Suzuki, TakahiroTohoku University
Nagatani, KeijiThe University of Tokyo
Shibata Yukinori, ShibataSato Komuten Co
Asano, KimitakaSanyo-Technics Co
Komatsu, TomohiroKOWATECH Co
Tadokoro, SatoshiTohoku University
 
14:45-15:00, Paper MoCT6.4 
Robust Dynamic State Estimation for Lateral Control of an Industrial Tractor Towing Multiple Passive Trailers

Zhou, ShunboThe Chinese University of Hong Kong
Zhao, HongchaoThe Chinese University of Hong Kong
Chen, WenThe Chinese University of Hong Kong
Liu, ZheUniversity of Cambridge
Wang, HeshengShanghai Jiao Tong University
Liu, YunhuiChinese University of Hong Kong
 
MoCT7 Room T7
Robotics in Construction II Regular session
Chair: Liu, ZheUniversity of Cambridge
Co-Chair: Hutter, MarcoETH Zurich
 
14:00-14:15, Paper MoCT7.1 
End-To-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences

Wei, HuanshuChinese University of Hong Kong
Qiao, ZhijianShanghai Jiao Tong University
Liu, ZheUniversity of Cambridge
Suo, ChuanzheThe Chinese University of Hong Kong
Yin, PengCarnegie Mellon University
Shen, YuelingShanghai Jiao Tong University
Li, HaoangThe Chinese University of Hong Kong
Wang, HeshengShanghai Jiao Tong University
 
14:15-14:30, Paper MoCT7.2 
Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators
 Video Attachment

Jelavic, EdoSwiss Federal Institute of Technology Zurich
Berdou, YannickETH Zurich
Jud, DominicETH Zurich
Kerscher, SimonEth Zurich
Hutter, MarcoETH Zurich
 
14:30-14:45, Paper MoCT7.3 
Towards RL-Based Hydraulic Excavator Automation
 Video Attachment

Egli, Pascal ArturoRSL, ETHZ
Hutter, MarcoETH Zurich
 
14:45-15:00, Paper MoCT7.4 
Multimodal Teleoperation of Heterogeneous Robots within a Construction Environment

Wallace, DylanUniversity of Nevada, Las Vegas
He, Yu HangUniversity of Nevada, Las Vegas
Chagas Vaz, Jean M.University of Nevada Las Vegas
Georgescu, LeonardoUniversity of Nevada, Las Vegas
Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
 
MoCT8 Room T8
Service Robots Regular session
Chair: Liu, MingHong Kong University of Science and Technology
Co-Chair: Fernandez-Carmona, ManuelUniversity of Lincoln
 
14:00-14:15, Paper MoCT8.1 
Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots

Wang, HengliThe Hong Kong University of Science and Technology
Fan, Rui RangerUC San Diego
Sun, YuxiangHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
14:15-14:30, Paper MoCT8.2 
Performance Characterization of an Algorithm to Estimate the Search Skill of a Human or Robot Agent

Balaska, AudreyTufts University
Rife, JasonTufts University
 
14:30-14:45, Paper MoCT8.3 
The Marathon 2: A Navigation System
 Video Attachment

Macenski, StevenSamsung Research America
Martin Rico, FranciscoCarnegie Mellon University
White, RuffinUniversity of California San Diego
Gines Clavero, JonatanKing Juan Carlos University
 
14:45-15:00, Paper MoCT8.4 
Path Planning for Nonholonomic Multiple Mobile Robot System with Applications to Robotic Autonomous Luggage Trolley Collection at Airports

Wang, JiankunThe Chinese University of HongKong
Meng, Max Q.-H.The Chinese University of Hong Kong
 
15:00-15:15, Paper MoCT8.5 
Affordance-Based Mobile Robot Navigation among Movable Obstacles
 Video Attachment

Wang, MaozhenNortheastern University
Luo, RuiNortheastern University
Onol, Aykut OzgunNortheastern University
Padir, TaskinNortheastern University
 
15:15-15:30, Paper MoCT8.6 
Next-Best-Sense: A Multi-Criteria Robotic Exploration Strategy for RFID Tags Discovery

Polvara, RiccardoUniversity of Lincoln
Fernandez-Carmona, ManuelUniversity of Lincoln
Hanheide, MarcUniversity of Lincoln
Neumann, GerhardKarlsruhe Institute of Technology
 
MoCT9 Room T9
Automation at Micro-Nano Scales Regular session
Chair: Gauthier, MichaelFEMTO-ST Institute
Co-Chair: Cappelleri, DavidPurdue University
 
14:00-14:15, Paper MoCT9.1 
Magnetically Actuated Pick-And-Place Operations of Cellular Micro-Rings for High-Speed Assembly of Micro-Scale Biological Tube
 Video Attachment

Wu, YangBeijing Institute of Technology
Sun, TaoBeijing Institute of Technology
Shi, QingBeijing Institute of Technology
Wang, HuapingBeijig Institute of Technology
Huang, QiangBeijing Institute of Technology
Fukuda, ToshioMeijo University
 
14:15-14:30, Paper MoCT9.2 
Design of the uMAZE Platform and Microrobots for Independent Control and Micromanipulation Tasks
 Video Attachment

Johnson, BenjaminPurdue University
Esantsi, NathanPurdue University
Cappelleri, DavidPurdue University
 
14:30-14:45, Paper MoCT9.3 
Dielecrophoretic Introduction of the Membrane Proteins into the BLM Platforms for the Electrophygiological Analysis Systems

Sugiura, HirotakaNagoya University
Osaki, ToshihisaKanagawa Institute of Industrial Science and Technology
Mimura, HisatoshiKanagawa Institute of Industrial Science and Technology (KISTEC)
Yamada, TetsuyaKanagawa Institute of Industrial Science and Technology
Takeuchi, ShojiUTokyo
 
14:45-15:00, Paper MoCT9.4 
Miniaturized Robotics: The Smallest Camera Operator Bot Pays Tribute to David Bowie (I)

Lehmann, OlivierUniversite de Franche-Comté
Rauch, Jean-YvesFEMTO-ST institute
Vitry, YouenULB
Pinsard, TiboDarrowan Prod
Lambert, PierreUniversité libre de Bruxelles
Gauthier, MichaelFEMTO-ST Institute
 
15:00-15:15, Paper MoCT9.5 
Electromagnetic Actuation of Microrobots in a Simulated Vascular Structure with a Position Estimator Based Motion Controller
 Video Attachment

Dong, DingranCity University of Hong Kong
Lam, Wah ShingCity University of Hong Kong
Sun, DongCity University of Hong Kong
 
MoCT10 Room T10
Biological Cell Manipulation Regular session
Chair: Hayakawa, TakeshiChuo University
Co-Chair: Yaxiaer, YalikunNara Institute of Science and Technology
 
14:00-14:15, Paper MoCT10.1 
On-Chip Integration of Ultra-Thin Glass Cantilever for Physical Property Measurement Activated by Femtosecond Laser Impulse

Tang, TaoNara Institute of Science and Technology
Hao, YanshengNara Institute of Science and Technology
Shen, YigangOsaka University
Tanaka, YoRiken
Huang, MingNara Institute of Science and Technology
Hosokawa, YoichirohNAIST
Li, MingMacquarie University
Yaxiaer, YalikunNara Institute of Science and Technology
 
14:15-14:30, Paper MoCT10.2 
A Novel Portable Cell Sonoporation Device Based on Open-Source Acoustofluidics

Song, BinBEIHANG UNIVERSITY
Zhang, WeiBeihang University
Bai, XueSchool of Mechanical Engineering & Automation, Beihang Universit
Feng, LinBeihang University
Zhang, DeyuanBeihang University
Arai, FumihitoNagoya University
 
14:30-14:45, Paper MoCT10.3 
Robotic Micromanipulation of Biological Cells with Friction Force-Based Rotation Control
 Video Attachment

Cui, ShuaiNanyang Technological University
Ang, Wei TechNanyang Technological University
 
14:45-15:00, Paper MoCT10.4 
Construction of Multiple Hepatic Lobule Like 3D Vascular Networks by Manipulating Magnetic Tweezers Toward Tissue Engineering

Kim, EunhyeMeijo University
Takeuchi, MasaruNagoya University
Kozuka, TaroMeijo University
Nomura, TakutoMeijo University
Ichikawa, AkihikoMeijo University
Hasegawa, YasuhisaNagoya University
Huang, QiangBeijing Institute of Technology
Fukuda, ToshioMeijo University
 
15:00-15:15, Paper MoCT10.5 
Evaluations of Response Characteristics of On-Chip Gel Actuators for Various Single Cell Manipulations
 Video Attachment

Wada, HirokiChuo University
Koike, YuhaChuo University
Yokoyama, YoshiyukiToyama Industrial Technology Research and Development Center
Hayakawa, TakeshiChuo University
 
15:15-15:30, Paper MoCT10.6 
Detection and Control of Air Liquid Interface with an Open-Channel Microfluidic Chip for Circulating Tumor Cells Isolation from Human Whole Blood
 Video Attachment

Turan, BilalNagoya University
Tomori, YusukeNagoya University
Masuda, TaisukeNagoya University
Weng, RuixuanNagoya University
Shen, Larina Tzu-WeiTsukuba University
Matsusaka, SatoshiTsukuba University
Arai, FumihitoNagoya University
 
MoCT11 Room T11
Micro/Nano Robotics Regular session
Chair: Petruska, Andrew J.Colorado School of Mines
Co-Chair: Jayaram, KaushikUniversity of Colorado Boulder
 
14:00-14:15, Paper MoCT11.1 
Piezoelectric Grippers for Mobile Micromanipulation
 Video Attachment

Abondance, TristanHarvard University
Jayaram, KaushikUniversity of Colorado Boulder
Jafferis, Noah T.Harvard University
Shum, JenniferHarvard University
Wood, RobertHarvard University
 
14:15-14:30, Paper MoCT11.2 
A Novel and Controllable Cell-Robot in Real Vascular Network for Target Tumor Therapy

Feng, YanminBeihang University
Feng, LinBeihang University
Dai, YuguoBeihang University
Bai, XueSchool of Mechanical Engineering & Automation, Beihang Universit
Zhang, ChaonanBeihang University
Chen, YuanyuanBeihang University
Arai, FumihitoNagoya University
 
14:30-14:45, Paper MoCT11.3 
Magnetized Cell-Robot Propelled by Magnetic Field for Cancer Killing

Dai, YuguoBeihang University
Feng, YanminBeihang University
Feng, LinBeihang University
Chen, YuanyuanBeihang University
Bai, XueSchool of Mechanical Engineering & Automation, Beihang Universit
Liang, ShuzhangBeihang University
Song, LiBeihang University
Arai, FumihitoNagoya University
 
14:45-15:00, Paper MoCT11.4 
Control of Magnetically-Driven Screws in a Viscoelastic Medium
 Video Attachment

Zhang, ZhengyaUniversity Medical Center Groningen
Klingner, AnkeGerman University in Cairo
Misra, SarthakUniversity of Twente
Khalil, Islam S.M.University of Twente
 
15:00-15:15, Paper MoCT11.5 
Open-Loop Orientation Control Using Dynamic Magnetic Fields
 Video Attachment

Petruska, Andrew J.Colorado School of Mines
 
15:15-15:30, Paper MoCT11.6 
A Manipulability Criterion for Magnetic Actuation of Miniature Swimmers with Flexible Flagellum
 Video Attachment

Begey, JérémyUniversity of Strasbourg
Etievant, MaximeFEMTO-ST Institute
Quispe, Johan EdilbertoSorbonne University, CNRS Institut Des Systčmes Intelligents Et
Bolopion, AudeFemto-St Institute
Vedrines, MarcICube - INSA De Strasbourg
Abadie, JoelUFC ENSMM
Régnier, StéphaneSorbonne University
Andreff, NicolasUniversité De Franche Comté
Renaud, PierreICube AVR
 
MoCT12 Room T12
Micro-Scale Perception and Manipulation Regular session
Chair: Liu, MingHong Kong University of Science and Technology
Co-Chair: Liu, XinyuUniversity of Toronto
 
14:00-14:15, Paper MoCT12.1 
Smart-Inspect: Micro Scale Localization and Classification of Smartphone Glass Defects for Industrial Automation

Bhutta, M Usman MaqboolThe Hong Kong University of Science and Technology (HKUST)
Aslam, ShoaibThe Hong Kong University of Science and Technology (HKUST), Clea
Yun, PengThe Hong Kong University of Science and Technology
Jiao, JianhaoThe Hong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
14:15-14:30, Paper MoCT12.2 
An SEM-Based Nanomanipulation System for Multi-Physical Characterization of Single InGaN/GaN Nanowires

Qu, JuntianMcGill University
Wang, RenjieMcGill University
Pan, PengMcGill University
Du, LinghaoUniversity of Toronto
Mi, ZetianUniversity of Michigan
Sun, YuUniversity of Toronto
Liu, XinyuUniversity of Toronto
 
14:30-14:45, Paper MoCT12.3 
Observer-Based Disturbance Control for Small-Scale Collaborative Robotics

Awde, AhmadUniversité Bourgogne Franche-Comté - Sorbonne Université
Boudaoud, MokraneSorbonne Université
Régnier, StéphaneSorbonne University
Clévy, CédricFranche-Comté University
 
14:45-15:00, Paper MoCT12.4 
Robust Micro-Particle Manipulation in a Microfluidic Channel Network Using Gravity-Induced Pressure Actuators
 Video Attachment

Lee, DonghyeonPohang University of Science and Technology(POSTECH)
Lee, WoongyongPOSTECH
Chung, Wan KyunPOSTECH
Kim, KeehoonPOSTECH, Pohang University of Science and Technology
 
15:00-15:15, Paper MoCT12.5 
Deep Learning-Based Autonomous Scanning Electron Microscope
 Video Attachment

Jang, JonggyuUlsan National Institute of Science and Technology (UNIST)
Lyu, HyeonsuUlsan National Institute of Science and Technology (UNIST)
Yang, Hyun JongPohang University of Science and Technology (POSTECH)
Oh, MoohyunEgovid Inc
Lee, JunheeCoxem Co. Ltd
 
MoCT13 Room T13
Computer Vision for Medical Robotics Regular session
Chair: Yin, HuBeihang University
Co-Chair: Hannaford, BlakeUniversity of Washington
 
14:00-14:15, Paper MoCT13.1 
The Application of Navigation Technology for the Medical Assistive Devices Based on Aruco Recognition Technology

Tian, WeihanBeihang University
Chen, DianshengBeihang University
Yang, ZihaoBeihang University
Yin, HuBeihang University
 
14:15-14:30, Paper MoCT13.2 
Endoscopic Navigation Based on Three-Dimensional Structure Registration

Han, MinghuiNankai University
Dai, YuNankai University
Zhang, JianxunNankai University
 
14:30-14:45, Paper MoCT13.3 
Z-Net: An Anisotropic 3D DCNN for Medical CT Volume Segmentation

Li, PeichaoImperial College London
Zhou, Xiao-YunImperial College London
Wang, ZhaoyangImperial College London
Yang, Guang-ZhongShanghai Jiao Tong University
 
14:45-15:00, Paper MoCT13.4 
LC-GAN: Image-To-Image Translation Based on Generative Adversarial Network for Endoscopic Images

Lin, ShanUniversity of Washington
Qin, FangboInstitute of Automation, Chinese Academy of Sciences
Li, YangmingRochester Institute of Technology
Bly, RandallUniversity of Washington
Moe, KrisUniversity of Washington
Hannaford, BlakeUniversity of Washington
 
MoCT14 Room T14
Surgical Robotics: Control Regular session
Chair: Krieger, AxelUniversity of Maryland
Co-Chair: Eagleson, RoyUniversity of Western Ontario
 
14:00-14:15, Paper MoCT14.1 
DaVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery
 Video Attachment

Qin, YidanIntuitive Surgical
Feyzabadi, SeyedshamsUC Merced
Allan, MaxIntuitive Surgical
Burdick, JoelCalifornia Institute of Technology
Azizian, MahdiIntuitive Surgical
 
14:15-14:30, Paper MoCT14.2 
Hierarchical Optimization Control of Redundant Manipulator for Robot-Assisted Minimally Invasive Surgery
 Video Attachment

Hu, YingbaiTechnische Universität München
Su, HangPolitecnico Di Milano
Chen, GuangTechnical University of Munich
Ferrigno, GiancarloPolitecnico Di Milano
De Momi, ElenaPolitecnico Di Milano
Knoll, AloisTech. Univ. Muenchen TUM
 
14:30-14:45, Paper MoCT14.3 
Towards Autonomous Control of Magnetic Suture Needles
 Video Attachment

Fan, MatthewUniversity of Maryland, College Park
Liu, XiaolongUniversity of Maryland College Park
Jain, KamakshiUniversity of Maryland College Park
Lerner, DanielUniversity of Maryland, College Park
Mair, LamarWeinberg Medical Physics, Inc
Irving, WeinbergWeinberg Medical Physics, Inc
Diaz-Mercado, YancyUniversity of Maryland
Krieger, AxelUniversity of Maryland
 
14:45-15:00, Paper MoCT14.4 
Supervised Semi-Autonomous Control for Surgical Robot Based on Bayesian Optimization

Chen, JunhongImperial College London
Zhang, DandanImperial College London
Munawar, AdnanJohns Hopkins University
Zhu, RuiqiImperial College London
Lo, Benny Ping LaiImperial College London
Fischer, Gregory ScottWorcester Polytechnic Institute, WPI
Yang, Guang-ZhongShanghai Jiao Tong University
 
15:00-15:15, Paper MoCT14.5 
Parallel Haptic Rendering for Orthopedic Surgery Simulators

Faieghi, RezaRyerson University
Atashzar, S. FarokhNew York University (NYU), US
Tutunea-Fatan, O. RemusWestern University
Eagleson, RoyUniversity of Western Ontario
 
MoCT15 Room T15
Surgical Robotics: Image-Guided I Regular session
Chair: Cavusoglu, M. CenkCase Western Reserve University
Co-Chair: Nageotte, FlorentUniversity of Strasbourg
 
14:00-14:15, Paper MoCT15.1 
Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System

Tuna, Eser ErdemCase Western Reserve Univesity