Technical Program for Tuesday October 27, 2020

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TuPL Room T25
Plenary 2 Plenary session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
09:00-10:00, Paper TuPL.1 
Cognitive Development in Humans and Robots: New Insights into Intelligence

Nagai, YukieThe University of Tokyo
 
TuAT1 Room T1
Computer Vision for Automation Regular session
Chair: Gammell, JonathanUniversity of Oxford
 
10:00-10:15, Paper TuAT1.1 
Proactive Estimation of Occlusions and Scene Coverage for Planning Next Best Views in an Unstructured Representation
 Video Attachment

Border, RowanUniversity of Oxford
Gammell, JonathanUniversity of Oxford
 
10:15-10:30, Paper TuAT1.2 
Indirect Object-To-Robot Pose Estimation from an External Monocular RGB Camera
 Video Attachment

Tremblay, JonathanNvidia
Tyree, StephenNVIDIA
Mosier, TerryNVIDIA
Birchfield, StanNVIDIA Corporation
 
10:30-10:45, Paper TuAT1.3 
Peg-In-Hole Using 3D Workpiece Reconstruction and CNN-Based Hole Detection
 Video Attachment

Nigro, MichelangeloUniversity of Basilicata
Sileo, MonicaUniversity of Basilicata
Pierri, FrancescoUniversità Della Basilicata
Genovese, KatiaUniversity of Basilicata
Bloisi, DomenicoUniversity of Basilicata
Caccavale, FabrizioUniversità Degli Studi Della Basilicata
 
10:45-11:00, Paper TuAT1.4 
Automated Folding of a Deformable Thin Object through Robot Manipulators
 Video Attachment

Cui, ZhenxiThe Hong Kong Polytechnic University
Huang, KaichengThe Hong Kong Polytechnic University
Lu, BoThe Chinese University of Hong Kong
Chu, HenryThe Hong Kong Polytechnic University
 
11:00-11:15, Paper TuAT1.5 
Uncertainty Aware Texture Classification and Mapping Using Soft Tactile Sensors

Amini, AlexanderMassachusetts Institute of Technology
Lipton, JeffreyUniversity of Washington
Rus, DanielaMIT
 
11:15-11:30, Paper TuAT1.6 
Estimating Motion Codes from Demonstration Videos

Alibayev, MaxatUniversity of South Florida
Paulius, David AndresUniversity of South Florida
Sun, YuUniversity of South Florida
 
11:15-11:30, Paper TuAT1.7 
HDR Reconstruction Based on the Polarization Camera

Xuesong, WuNational University of Defense Technology
Zhang, HongUniversity of Alberta
Hu, XiaopingNational University of Defense Technology
Shakeri, MoeinUniversity of Alberta
Chen, FanNational University of Defense Technology
Ting, JuiwenUniversity of Alberta
 
TuAT2 Room T2
Manufacturing and Logistics Regular session
Chair: Arpenti, PierluigiCREATE Consortium
Co-Chair: Rocco, PaoloPolitecnico Di Milano
 
10:00-10:15, Paper TuAT2.1 
Zero-Tuning Grinding Process Methodology of Cyber-Physical Robot System

Yang, Hsuan-YuNational Taiwan University
Shih, Chih-HsuanNational Taiwan University
Lo, Yuan ChiehIndustrial Technology Research Institute
Lian, Feng-LiNational Taiwan University
 
10:15-10:30, Paper TuAT2.2 
An External Stabilization Unit for High-Precision Applications of Robot Manipulators
 Video Attachment

Berninger, Tobias Franz ChristianTU Munich
Slimak, TomasTU Munich
Weber, TobiasBoeing Research & Technology
Rixen, DanielTechnische Universität München
 
10:30-10:45, Paper TuAT2.3 
CUHK-AHU Dataset: Promoting Practical Self-Driving Applications in the Complex Airport Logistics, Hill and Urban Environments

Chen, WenThe Chinese University of Hong Kong
Liu, ZheUniversity of Cambridge
Zhao, HongchaoThe Chinese University of Hong Kong
Zhou, ShunboThe Chinese University of Hong Kong
Li, HaoangThe Chinese University of Hong Kong
Liu, YunhuiChinese University of Hong Kong
 
10:45-11:00, Paper TuAT2.4 
A Flexible Robotic Depalletizing System for Supermarket Logistics
 Video Attachment

Caccavale, RiccardoUniversità Di Napoli "Federico II"
Arpenti, PierluigiCREATE Consortium
Paduano, GianmarcoScuola Politecnica E Delle Scienze Di Base Federico II Di Napoli
Fontanelli, Giuseppe AndreaUniversity of Naples Federico II
Lippiello, VincenzoUniversity of Naples FEDERICO II
Villani, LuigiUniv. Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
 
11:00-11:15, Paper TuAT2.5 
A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics
 Video Attachment

Fontanelli, Giuseppe AndreaUniversity of Naples Federico II
Paduano, GianmarcoScuola Politecnica E Delle Scienze Di Base Federico II Di Napoli
Caccavale, RiccardoUniversità Di Napoli "Federico II"
Arpenti, PierluigiCREATE Consortium
Lippiello, VincenzoUniversity of Naples FEDERICO II
Villani, LuigiUniv. Napoli Federico II
Siciliano, BrunoUniv. Napoli Federico II
 
11:15-11:30, Paper TuAT2.6 
Combining Speed and Separation Monitoring with Power and Force Limiting for Safe Collaborative Robotics Applications
 Video Attachment

Lucci, NiccolòPolitecnico Di Milano
Lacevic, BakirUniversity of Sarajevo
Zanchettin, Andrea MariaPolitecnico Di Milano
Rocco, PaoloPolitecnico Di Milano
 
TuAT3 Room T3
Scheduling Regular session
Chair: Barton, KiraUniversity of Michigan at Ann Arbor
Co-Chair: Chakraborty, NilanjanStony Brook University
 
10:00-10:15, Paper TuAT3.1 
Distributed Near-Optimal Multi-Robots Coordination in Heterogeneous Task Allocation

Li, QinyuanSwinburne University of Technology
Li, MinyiRMIT
Vo, Bao QuocSwinburne University of Technology
Kowalczyk, RyszardSwinburne University of Technology
 
10:15-10:30, Paper TuAT3.2 
Heterogeneous Vehicle Routing and Teaming with Gaussian Distributed Energy Uncertainty

Fu, BoUniversity of University
Smith, WilliamUS Army TARDEC
Rizzo, Denise M.U.S. Army TARDEC
Castanier, Matthew P.US Army GVSC
Barton, KiraUniversity of Michigan at Ann Arbor
 
10:30-10:45, Paper TuAT3.3 
Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks

Azevedo, CarlosInstituto Superior Técnico - Institute for Systems and Robotics
Lacerda, BrunoUniversity of Oxford
Hawes, NickUniversity of Oxford
Lima, Pedro U.Instituto Superior Técnico - Institute for Systems and Robotics
 
10:45-11:00, Paper TuAT3.4 
Algorithm for Multi-Robot Chance-Constrained Generalized Assignment Problem with Stochastic Resource Consumption

Yang, FanStony Brook University
Chakraborty, NilanjanStony Brook University
 
11:00-11:15, Paper TuAT3.5 
The Pluggable Distributed Resource Allocator (PDRA): A Middleware for Distributed Computing in Mobile Robotic Networks
 Video Attachment

Rossi, FedericoJet Propulsion Laboratory - California Institute of Technology
Vaquero, TiagoJPL, Caltech
Sanchez Net, MarcJet Propulsion Laboratory - California Institute of Technology
Saboia Da Silva, MairaUniversity at Buffalo
Vander Hook, JoshuaNASA Jet Propulsion Laboratory
 
11:15-11:30, Paper TuAT3.6 
Learning Scheduling Policies for Multi-Robot Coordination with Graph Attention Networks

Wang, ZheyuanGeorgia Institute of Technology
Gombolay, MatthewGeorgia Institute of Technology
 
TuAT4 Room T4
Robot Computation: Hardware, Software, Datasets Regular session
Chair: Fallon, MauriceUniversity of Oxford
Co-Chair: Scaramuzza, DavideUniversity of Zurich
 
10:00-10:15, Paper TuAT4.1 
The Newer College Dataset Handheld LiDAR, Inertial and Vision with Ground Truth
 Video Attachment

Ramezani, MiladUniversity of Oxford
Wang, YiduoUniversity of Oxford
Camurri, MarcoUniversity of Oxford
Wisth, DavidUniversity of Oxford
Mattamala, MatíasUniversity of Oxford
Fallon, MauriceUniversity of Oxford
 
10:15-10:30, Paper TuAT4.2 
Faster Than FAST: GPU-Accelerated Frontend for High-Speed VIO

Nagy, BalazsUniversity of Zürich
Foehn, PhilippUniversity of Zurich
Scaramuzza, DavideUniversity of Zurich
 
10:30-10:45, Paper TuAT4.3 
GPU Parallelization of Policy Iteration RRT#

Lawson, R. ConnorGeorgia Institute of Technology
Wills, LindaGeorgia Institute of Technology
Tsiotras, PanagiotisGeorgia Tech
 
10:45-11:00, Paper TuAT4.4 
ROS-Lite: ROS Framework for NoC-Based Embedded Many-Core Platform
 Video Attachment

Azumi, TakuyaSaitama University
Maruyama, YuyaOsaka University
Kato, ShinpeiNagoya University
 
TuAT5 Room T5
Sim-To-Real Regular session
Chair: Bock, JuergenKUKA Deutschland GmbH
Co-Chair: Batra, DhruvFacebook AI Research / Georgia Tech
 
10:00-10:15, Paper TuAT5.1 
Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization
 Video Attachment

Kaspar,, ManuelKUKA Deutschland GmbH
Muñoz Osorio, Juan DavidLeibniz University, KUKA Germany GmbH
Bock, JuergenKUKA Deutschland GmbH
 
10:15-10:30, Paper TuAT5.2 
Learning the Sense of Touch in Simulation: A Sim-To-Real Strategy for Vision-Based Tactile Sensing
 Video Attachment

Sferrazza, CarmeloETH Zurich
Bi, ThomasETH Zurich
D'Andrea, RaffaelloETHZ
 
10:30-10:45, Paper TuAT5.3 
Reinforced Grounded Action Transformation for Sim-To-Real Transfer
 Video Attachment

Karnan, HareshThe University of Texas at Austin
Desai, SiddharthThe University of Texas at Austin
Warnell, GarrettU.S. Army Research Laboratory
Hanna, JosiahThe University of Texas at Austin
Stone, PeterUniversity of Texas at Austin
 
10:45-11:00, Paper TuAT5.4 
Adaptability Preserving Domain Decomposition for Stabilizing Sim2Real Reinforcement Learning
 Video Attachment

Gao, HaichuanTsinghua University
Yang, ZhileTsinghua University
Su, XinTsinghua University
Tan, TianStanford University
Chen, FengTsinghua University
 
11:00-11:15, Paper TuAT5.5 
Sim-To-Real with Domain Randomization for Tumbling Robot Control
 Video Attachment

Schwartzwald, AmaliaCSE, UMN
Papanikolopoulos, NikosUniversity of Minnesota
 
11:15-11:30, Paper TuAT5.6 
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance

Kadian, AbhishekFacebook AI Research
Truong, JoanneThe Georgia Institute of Technology
Gokaslan, AaronBrown University
Clegg, AlexanderGeorgia Institute of Technology
Wijmans, ErikGeorgia Tech
Lee, StefanOregon State University
Savva, ManolisSimon Fraser University
Chernova, SoniaGeorgia Institute of Technology
Batra, DhruvFacebook AI Research / Georgia Tech
 
TuAT7 Room T7
Localization Regular session
Chair: Kim, AyoungKorea Advanced Institute of Science Technology
Co-Chair: Liu, MingHong Kong University of Science and Technology
 
10:00-10:15, Paper TuAT7.1 
Pedestrian Motion Tracking by Using Inertial Sensors on the Smartphone

Wang, YingyingThe Chinese University of Hong Kong
Cheng, HuThe Chinese University of Hong Kong
Meng, Max Q.-H.The Chinese University of Hong Kong
 
10:15-10:30, Paper TuAT7.2 
A Bayesian Approach for Gas Source Localization in Large Indoor Environments
 Video Attachment

Prabowo, YaqubInstitut Teknologi Bandung
Ranasinghe, RavindraUniversity of Technology Sydney
Dissanayake, GaminiUniversity of Technology Sydney
Riyanto, BambangInstitut Teknologi Bandung
Yuliarto, BrianInstitut Teknologi Bandung
 
10:30-10:45, Paper TuAT7.3 
Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation

Fourie, DehannMassachusetts Institute of Technology and Woods Hole Oceanograph
Rypkema, Nicholas RahardiyanMassachusetts Institute of Technology
Claassens, Samuel DavidSemisorted Technologies
Vaz Teixeira, PedroMassachusetts Institute of Technology
Leonard, JohnMIT
Fischell, Erin MarieWoods Hole Oceanographic Institution
 
10:45-11:00, Paper TuAT7.4 
An Augmented Reality Spatial Referencing System for Mobile Robots

Chacko, SoniaNYU Tandon School of Engineering
Granado, ArmandoNew York University Tandon School of Engineering
Rajkumar, AshwinNew York University Tandon School of Engineering
Kapila, VikramNYU Tandon School of Engineering
 
11:00-11:15, Paper TuAT7.5 
GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models
 Video Attachment

Huang, HuaiyangThe Hong Kong University of Science and Technology
Ye, HaoyangThe Hong Kong University of Science and Technology
Sun, YuxiangHong Kong University of Science and Technology
Liu, MingHong Kong University of Science and Technology
 
11:15-11:30, Paper TuAT7.6 
HDMI-Loc: Exploiting High Definition Map Image for Precise Localization Via Bitwise Particle Filter
 Video Attachment

Jeong, JinyongKAIST
Cho, YounggunKAIST
Kim, AyoungKorea Advanced Institute of Science Technology
 
11:15-11:30, Paper TuAT7.7 
Visual SLAM with Drift-Free Rotation Estimation in Manhattan World

Liu, JiachengTsinghua University
Meng, ZiyangTsinghua University
 
TuAT8 Room T8
Localization: Other Modalities I Regular session
Chair: Martinez, JulietaUber
Co-Chair: Wei, BoNorthumbria University
 
10:00-10:15, Paper TuAT8.1 
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 TuAT8.2 
SolarSLAM: Battery-Free Loop Closure for Indoor Localisation

Wei, BoNorthumbria University
Xu, WeitaoCity University of Hong Kong
Luo, ChengwenShenzhen University
Zoppi, GuillaumeNorthumbria University
Ma, DongUniversity of Cambridge
Wang, SenEdinburgh Centre for Robotics, Heriot-Watt University
 
10:30-10:45, Paper TuAT8.3 
Robot-To-Robot Relative Pose Estimation Based on Semidefinite Relaxation Optimization

Li, MingChinese University of Hong Kong, Shenzhen
Liang, GuanqiThe Chinese University of Hong Kong, Shenzhen
Luo, HaoboThe Chinese University of Hong Kong, Shenzhen
Qian, HuihuanShenzhen Institute of Artificial Intelligence and Robotics for S
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
 
10:45-11:00, Paper TuAT8.4 
A Model-Based Approach to Acoustic Reflector Localization with a Robotic Platform
 Video Attachment

Saqib, UsamaAalborg University
Jensen, Jesper RindomAalborg University
 
11:00-11:15, Paper TuAT8.5 
TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint
 Video Attachment

Zhao, ShiboCarnegie Mellon University
Wang, PengFaculty of Robot Science and Engineering, Northeastern University
Zhang, HengruiCarnegie Mellon University
Fang, ZhengNortheastern University
Scherer, SebastianCarnegie Mellon University
 
11:15-11:30, Paper TuAT8.6 
Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization

Geneva, PatrickUniversity of Delaware
Merrill, NathanielUniversity of Delaware
Yang, YulinUniversity of Delaware
Chen, ChuchuUniversity of Delaware
Lee, WoosikUniversity of Delaware
Huang, Guoquan (Paul)University of Delaware
 
TuAT9 Room T9
Localization: Other Modalities II Regular session
Chair: Westerlund, TomiUniversity of Turku
Co-Chair: Pang, ShuoEmbry-Riddle Aeronautical University
 
10:00-10:15, Paper TuAT9.1 
UWB-Based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Peña Queralta, JorgeUniversity of Turku
Martinez Almansa, CarmenUniversity of Turku
Schiano, FabrizioEcole Polytechnique Federale De Lausanne, EPFL
Floreano, DarioEcole Polytechnique Federal, Lausanne
Westerlund, TomiUniversity of Turku
 
10:15-10:30, Paper TuAT9.2 
Ultra-Wideband Aided UAV Positioning Using Incremental Smoothing with Ranges and Multilateration
 Video Attachment

Kang, JungwonYork University
Park, KunwooYork University
Arjmandi, ZahraYork University
Sohn, GunhoYork University
Shahbazi, MozhdehCentre De Géomatique Du Québec
Menard, PatrickCGQ
 
10:30-10:45, Paper TuAT9.3 
BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images

Choi, JunhoKAIST
Myung, HyunKAIST (Korea Adv. Inst. Sci. & Tech.)
 
10:45-11:00, Paper TuAT9.4 
Inertial Velocity Estimation for Indoor Navigation through Magnetic Gradient-Based EKF and LSTM Learning Model

Zmitri, MakiaCNRS/GIPSA-Lab
Fourati, HassenGIPSA-Lab / University of Grenoble
Prieur, ChristopheCNRS
 
11:00-11:15, Paper TuAT9.5 
An Implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) for Odor Source Localization

Wang, LingxiaoEmbry-Riddle Aeronautical University
Pang, ShuoEmbry-Riddle Aeronautical University
 
TuAT10 Room T10
Visual Localization I Regular session
Chair: Huang, Guoquan (Paul)University of Delaware
Co-Chair: Stiller, ChristophKarlsruhe Institute of Technology
 
10:00-10:15, Paper TuAT10.1 
Visual-Inertial-Wheel Odometry with Online Calibration
 Video Attachment

Lee, WoosikUniversity of Delaware
Eckenhoff, KevinUniversity of Delaware
Yang, YulinUniversity of Delaware
Geneva, PatrickUniversity of Delaware
Huang, Guoquan (Paul)University of Delaware
 
10:15-10:30, Paper TuAT10.2 
Active Perception for Outdoor Localisation with an Omnidirectional Camera
 Video Attachment

Jayasuriya, MaleenUniversity of Technology Sydney
Ranasinghe, RavindraUniversity of Technology Sydney
Dissanayake, GaminiUniversity of Technology Sydney
 
10:30-10:45, Paper TuAT10.3 
Ground Texture Based Localization: Do We Need to Detect Keypoints?

Schmid, Jan FabianRobert Bosch GmbH; Goethe University Frankfurt
Simon, Stephan F.Robert Bosch GmbH
Mester, RudolfNTNU Trondheim
 
10:45-11:00, Paper TuAT10.4 
Vision Global Localization with Semantic Segmentation and Interest Feature Points

Li, KaiAlibaba Group
Zhang, XudongOPPO
Li, KunAlibaba Group
Zhang, ShuoAlibaba Group
 
11:00-11:15, Paper TuAT10.5 
Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences
 Video Attachment

Yu, HuaiCarnegie Mellon University; Wuhan University
Zhen, WeikunCarnegie Mellon University
Yang, WenWuhan University
Zhang, JiCarnegie Mellon University
Scherer, SebastianCarnegie Mellon University
 
11:15-11:30, Paper TuAT10.6 
Monocular Localization in HD Maps by Combining Semantic Segmentation and Distance Transform
 Video Attachment

Pauls, Jan-HendrikKarlsruhe Institute of Technology (KIT)
Petek, KürsatKarlsruher Institut Für Technologie (KIT)
Poggenhans, FabianFZI Research Center for Information Technology
Stiller, ChristophKarlsruhe Institute of Technology
 
TuAT11 Room T11
Visual Localization II Regular session
Chair: Forbes, James RichardMcGill University
Co-Chair: Stachniss, CyrillUniversity of Bonn
 
10:00-10:15, Paper TuAT11.1 
Learning an Overlap-Based Observation Model for 3D LiDAR Localization

Chen, XieyuanliUniversity of Bonn
Läbe, ThomasUniversity of Bonn
Nardi, LorenzoUniversity of Bonn
Behley, JensUniversity of Bonn
Stachniss, CyrillUniversity of Bonn
 
10:15-10:30, Paper TuAT11.2 
Global Localization Over 2D Floor Plans with Free-Space Density Based on Depth Information

Maffei, RenanFederal University of Rio Grande Do Sul
Pittol, DiegoFederal University of Rio Grande Do Sul
Mantelli, Mathias FassiniFederal University of Rio Grande Do Sul
Prestes, EdsonUFRGS
Kolberg, MarianaUFRGS
 
10:30-10:45, Paper TuAT11.3 
A Point Cloud Registration Pipeline Using Gaussian Process Regression for Bathymetric SLAM

Hitchcox, ThomasMcGill University
Forbes, James RichardMcGill University
 
10:45-11:00, Paper TuAT11.4 
A Robust Multi-Stereo Visual-Inertial Odometry Pipeline

Jaekel, JoshuaCarnegie Mellon University
Mangelson, JoshuaBrigham Young University
Scherer, SebastianCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
11:00-11:15, Paper TuAT11.5 
Globally Optimal Consensus Maximization for Robust Visual Inertial Localization in Point and Line Map

Jiao, YanmeiZhejiang University
Wang, YueZhejiang University
Fu, BoZhejiang University, the State Key Laboratory of Industrial Cont
Tan, QimengBeijing Institute of Spacecraft System Engineering
Chen, LeiBeijing Institute of Spacecraft System Engineering
Wang, MinhangHuawei
Huang, ShoudongUniversity of Technology, Sydney
Xiong, RongZhejiang University
 
11:15-11:30, Paper TuAT11.6 
The Invariant Rauch-Tung-Striebel Smoother

van der Laan, NielsDelft University of Technology
Cohen, MitchellMcGill University
Arsenault, JonathanMcGill University
Forbes, James RichardMcGill University
 
TuAT12 Room T12
Visual Localization III Regular session
Chair: Barfoot, TimothyUniversity of Toronto
Co-Chair: Oishi, ShujiNational Institute of Advanced Industrial Science and Technology (AIST)
 
10:00-10:15, Paper TuAT12.1 
C*: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities
 Video Attachment

Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Kawamata, YasunoriToyohashi University of Technology
Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Koide, KenjiNational Institute of Advanced Industrial Science and Technology
Banno, AtsuhikoNational Instisute of Advanced Industrial Science and Technology
Miura, JunToyohashi University of Technology
 
10:15-10:30, Paper TuAT12.2 
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation

Brossard, MartinMines ParisTech
Bonnabel, SilvereMines ParisTech
Barrau, AxelSafran
 
10:30-10:45, Paper TuAT12.3 
Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation

Wong, Jeremy NathanUniversity of Toronto
Yoon, David JunyUniversity of Toronto
Schoellig, Angela P.University of Toronto
Barfoot, TimothyUniversity of Toronto
 
10:45-11:00, Paper TuAT12.4 
Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization

Suzuki, TaroChiba Institute of Technology
 
11:00-11:15, Paper TuAT12.5 
Improving Visual SLAM in Car-Navigated Urban Environments with Appearance Maps

Jaenal, AlbertoUniversity of Malaga
Zuñiga-Noël, DavidUniversity of Malaga
Gomez-Ojeda, RubenUniversity of Málaga
Gonzalez-Jimenez, JavierUniversity of Malaga
 
11:15-11:30, Paper TuAT12.6 
ROVINS: Robust Omnidirectional Visual Inertial Navigation System
 Video Attachment

Seok, HochangHanyang University
Lim, JongwooHanyang University
 
TuAT13 Room T13
Mapping Regular session
Chair: Olson, EdwinUniversity of Michigan
Co-Chair: Zheng, NanningXi'an Jiaotong University
 
10:00-10:15, Paper TuAT13.1 
CoBigICP: Robust and Precise Point Set Registration Using Correntropy Metrics and Bidirectional Correspondence
 Video Attachment

Yin, PengyuXi'an Jiaotong University
Wang, DiXi'an Jiaotong University
Du, ShaoyiXi'an Jiaotong University
Ying, ShihuiSchool of Science, ShanghaiUniversity
Gao, YueTsinghua University
Zheng, NanningXi'an Jiaotong University
 
10:15-10:30, Paper TuAT13.2 
The Masked Mapper: Masked Metric Mapping

Haggenmiller, AcshiUniversity of Michigan
Kabacinski, CameronUniversity of Michigan
Krogius, MaximilianUniversity of Michigan
Olson, EdwinUniversity of Michigan
 
10:30-10:45, Paper TuAT13.3 
Allocating Limited Sensing Resources to Accurately Map Dynamic Environments
 Video Attachment

Mitchell, DerekCarnegie Mellon University
Michael, NathanCarnegie Mellon University
 
10:45-11:00, Paper TuAT13.4 
Adaptive Kernel Inference for Dense and Sharp Occupancy Grids
 Video Attachment

Kwon, YoungsunKAIST
Moon, BochangGwangju Institute of Science and Technology
Yoon, Sung-euiKAIST
 
11:00-11:15, Paper TuAT13.5 
Object-Based Pose Graph for Dynamic Indoor Environments
 Video Attachment

Gomez, ClaraUniversity Carlos III of Madrid
Hernandez Silva, Alejandra CarolinaUniversity Carlos III of Madrid
Derner, ErikCzech Technical University in Prague
Barber, RamonUniversidad Carlos III of Madrid
Babuska, RobertDelft University of Technology
 
11:15-11:30, Paper TuAT13.6 
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown

Duberg, DanielKTH - Royal Institute of Technology
Jensfelt, PatricKTH - Royal Institute of Technology
 
TuAT14 Room T14
Mapping for Navigation Regular session
Chair: Gawel, Abel RomanETH Zurich
Co-Chair: Bertrand, SylvainInstitute for Human and Machine Cognition
 
10:00-10:15, Paper TuAT14.1 
Detecting Usable Planar Regions for Legged Robot Locomotion

Bertrand, SylvainInstitute for Human and Machine Cognition
Lee, InhoIHMC
Mishra, BhavyanshInstitute of Human and Machine Cognition, University of West Flo
Calvert, DuncanIHMC
Pratt, JerryInst. for Human and Machine Cognition
Griffin, Robert J.Institute for Human and Machine Cognition (IHMC)
 
10:15-10:30, Paper TuAT14.2 
Accurate Mapping and Planning for Autonomous Racing
 Video Attachment

Andresen, LeivETH Zurich, Autonomous Systems Lab
Brandemuehl, AdrianETH Zurich, Autonomous Systems Lab
Hönger, AlexETH Zurich, Autonomous Systems Lab
Kuan, BensonETH Zurich
Vödisch, NiclasETH Zurich, Autonomous Systems Lab
Blum, HermannETH Zurich
Reijgwart, VictorETH Zurich
Bernreiter, LukasETH Zurich, Autonomous Systems Lab
Schaupp, LukasETH Zurich
Chung, Jen JenEidgenössische Technische Hochschule Zürich
Bürki, MathiasAutonomous Systems Lab, ETH Zuerich
Oswald, Martin R.ETH Zurich
Siegwart, RolandETH Zurich
Gawel, Abel RomanETH Zurich
 
10:30-10:45, Paper TuAT14.3 
Crowdsourced 3D Mapping: A Combined Multi-View Geometry and Self-Supervised Learning Approach

Chawla, HemangNavinfo Europe
Jukola, MattiNavinfo EU
Brouns, TerenceNavInfo Europe
Arani, ElaheNavinfo Europe
Zonooz, BahramNavinfo Europe
 
10:45-11:00, Paper TuAT14.4 
Efficient Multiresolution Scrolling Grid for Stereo Vision-Based MAV Obstacle Avoidance

Dexheimer, EricCarnegie Mellon University
Mangelson, JoshuaBrigham Young University
Scherer, SebastianCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
11:00-11:15, Paper TuAT14.5 
DenseFusion: Large-Scale Online Dense Pointcloud and DSM Mapping for UAVs
 Video Attachment

Chen, LinNorthwestern Polytechnical University
Zhao, YongNorthwestern Polytechnic University
Xu, ShibiaoInstitute of Automation, Chinese Academy of Sciences
Bu, ShuhuiNorthwestern Polytechnical University
Han, PengchengNorthwestern Polytechnical University
Wan, GangInformation Engineering University
 
TuAT15 Room T15
Search and Mapping Regular session
Chair: Ayanian, NoraUniversity of Southern California
 
10:00-10:15, Paper TuAT15.1 
Sampling-Based Search for a Semi-Cooperative Target

Vandermeulen, IsaacIRobot Corporation
Gross, RoderichThe University of Sheffield
Kolling, AndreasAmazon
 
10:15-10:30, Paper TuAT15.2 
Mixed-Integer Linear Programming Models for Multi-Robot Non-Adversarial Search

Arruda Asfora, BeatrizCornell University
Banfi, JacopoCornell University
Campbell, MarkCornell University
 
10:30-10:45, Paper TuAT15.3 
Decentralised Self-Organising Maps for Multi-Robot Information Gathering

Best, GraemeOregon State University
Hollinger, GeoffreyOregon State University
 
10:45-11:00, Paper TuAT15.4 
Asynchronous Adaptive Sampling and Reduced-Order Modeling of Dynamic Processes by Robot Teams Via Intermittently Connected Networks
 Video Attachment

Rovina, Hannes KasparSwiss Federal Institute of Technology Lausanne, EPFL
Salam, Tahiya1995
Kantaros, YiannisUniversity of Pennsylvania
Hsieh, M. AniUniversity of Pennsylvania
 
11:00-11:15, Paper TuAT15.5 
Inter-Robot Range Measurements in Pose Graph Optimization
 Video Attachment

Boroson, ElizabethUniversity of Southern California
Hewitt, RobertJet Propulsion Laboratory
Ayanian, NoraUniversity of Southern California
de la Croix, Jean-PierreJet Propulsion Laboratory, California Institute of Technology
 
11:15-11:30, Paper TuAT15.6 
An Approach to Reduce Communication for Multi-Agent Mapping Applications

Kepler, MichaelVirginia Polytechnic Institute and State University
Stilwell, DanielVirginia Tech
 
TuAT16 Room T16
Sensor Fusion for Localization and Mapping Regular session
Chair: Weiss, StephanUniversität Klagenfurt
Co-Chair: Min, Byung-CheolPurdue University
 
10:00-10:15, Paper TuAT16.1 
Pi-Map: A Decision-Based Sensor Fusion with Global Optimization for Indoor Mapping
 Video Attachment

Yang, ZhiliuClarkson University
Yu, BoPerceptIn
Hu, WeiPerceptIn Inc
Tang, JieSouth China University of Technology
Liu, ShaoshanPerceptIn
Liu, ChenClarkson University
 
10:15-10:30, Paper TuAT16.2 
MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments
 Video Attachment

Schaupp, LukasETH Zurich
Pfreundschuh, PatrickETH Zurich
Bürki, MathiasAutonomous Systems Lab, ETH Zuerich
Cadena Lerma, CesarETH Zurich
Siegwart, RolandETH Zurich
Nieto, JuanETH Zürich
 
10:30-10:45, Paper TuAT16.3 
Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements

Allak, ErenUniversität Klagenfurt
Fornasier, AlessandroUniversity of Klagenfurt
Weiss, StephanUniversität Klagenfurt
 
10:45-11:00, Paper TuAT16.4 
Synchronization of Microphones Based on Rank Minimization of Warped Spectrum for Asynchronous Distributed Recording

Itoyama, KatsutoshiTokyo Institute of Technology
Nakadai, KazuhiroHonda Research Inst. Japan Co., Ltd
 
11:00-11:15, Paper TuAT16.5 
Self-Supervised Neural Audio-Visual Sound Source Localization Via Probabilistic Spatial Modeling
 Video Attachment

Masuyama, YoshikiWaseda University
Bando, YoshiakiKyoto University
Yatabe, KoheiWaseda University
Sasaki, YokoNational Inst. of Advanced Industrial Science and Technology
Onishi, MasakiNational Inst. of AIST
Oikawa, YasuhiroWaseda University
 
11:15-11:30, Paper TuAT16.6 
Material Mapping in Unknown Environments Using Tapping Sound
 Video Attachment

Kannan, Shyam SundarPurdue University
Jo, WonsePurdue University
Parasuraman, RamviyasUniversity of Georgia
Min, Byung-CheolPurdue University
 
TuAT17 Room T17
Cooeprative SLAM Regular session
Chair: Heckman, ChristofferUniversity of Colorado at Boulder
Co-Chair: Kim, JinwhanKAIST
 
10:00-10:15, Paper TuAT17.1 
Dense Decentralized Multi-Robot SLAM Based on Locally Consistent TSDF Submaps
 Video Attachment

Dubois, RodolpheONERA
Eudes, AlexandreONERA
Moras, JulienONERA
Fremont, VincentEcole Centrale De Nantes, CNRS, LS2N, UMR 6004
 
10:15-10:30, Paper TuAT17.2 
A Decentralized Framework for Simultaneous Calibration, Localization and Mapping with Multiple LiDARs
 Video Attachment

Lin, JiarongThe University of Hong Kong
Liu, XiyuanThe University of Hong Kong
Zhang, FuUniversity of Hong Kong
 
10:30-10:45, Paper TuAT17.3 
Better Together: Online Probabilistic Clique Change Detection in 3D Landmark-Based Maps

Bateman, SamuelUniversity of Colorado - Boulder
Harlow, KyleUniversity of Colorado Boulder
Heckman, ChristofferUniversity of Colorado at Boulder
 
10:45-11:00, Paper TuAT17.4 
Robust Loop Closure Method for Multi-Robot Map Fusion by Integration of Consistency and Data Similarity

Do, HaggiKAIST
Hong, SeonghunKeimyung University
Kim, JinwhanKAIST
 
11:00-11:15, Paper TuAT17.5 
Real-Time Multi-SLAM System for Agent Localization and 3D Mapping in Dynamic Scenarios
 Video Attachment

Ireta Muñoz, Fernando IsraelINRIA
Roussel, DavidIBISC, UEVE, Université Paris Saclay
Alliez, PierreINRIA Sophia-Antipolis
Bonardi, FabienUniversité De Rouen
Bouchafa, SamiaUniv d'Evry Val d'Essonne/Université Paris Saclay
Didier, Jean-YvesUniversité D'Evry
Kachurka, ViachaslauUniversite Paris Saclay, Univ Evry
Rault, BastienInnodura TB
Hadj-Abdelkader, HichamIBISC
Robin, MaximeInnodura TB
 
11:15-11:30, Paper TuAT17.6 
Asynchronous and Parallel Distributed Pose Graph Optimization
 Video Attachment

Tian, YulunMassachusetts Institute of Technology
Koppel, AlecUniversity of Pennsylvania
Bedi, Amrit SinghUS Army Research Lab
How, Jonathan PatrickMassachusetts Institute of Technology
 
TuAT18 Room T18
Visual SLAM I Regular session
Chair: Pradalier, CedricGeorgiaTech Lorraine
Co-Chair: Scherer, SebastianCarnegie Mellon University
 
10:00-10:15, Paper TuAT18.1 
TartanAir: A Dataset to Push the Limits of Visual SLAM
 Video Attachment

Wang, WenshanCarnegie Mellon University
Zhu, DelongThe Chinese University of Hong Kong
Wang, XiangweiTongji University
Hu, YaoyuCarnegie Mellon University
Qiu, YuhengCarnegie Mellon University
Wang, ChenCarnegie Mellon University
Hu, YafeiCarnegie Mellon University
Kapoor, AshishMicroSoft
Scherer, SebastianCarnegie Mellon University
 
10:15-10:30, Paper TuAT18.2 
From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs
 Video Attachment

Arndt, CharlotteRobert Bosch GmbH, Corporate Sector Research and Advance Enginee
Sabzevari, RezaRobert Bosch GmbH, Corporate Sector Research and Advance Enginee
Civera, JavierUniversidad De Zaragoza
 
10:30-10:45, Paper TuAT18.3 
Robust Monocular Edge Visual Odometry through Coarse-To-Fine Data Association

Wu, XiaolongGeorgia Institute of Technology
Vela, PatricioGeorgia Institute of Technology
Pradalier, CedricGeorgiaTech Lorraine
 
10:45-11:00, Paper TuAT18.4 
SaD-SLAM: A Visual SLAM Based on Semantic and Depth Information

Yuan, XunUniversity of Science and Technology of China
Chen, SongUniversity of Science and Technology of China
 
11:00-11:15, Paper TuAT18.5 
Exploit Semantic and Public Prior Information in MonoSLAM

Ye, ChenxiUniversity College London
Wang, YiduoUniversity of Oxford
Lu, ZiwenUniversity College London
Gilitschenski, IgorMassachusetts Institute of Technology
Parsley, Martin PeterUniversity College London
Julier, SimonUniversity College London
 
11:15-11:30, Paper TuAT18.6 
Dual-SLAM: A Framework for Robust Single Camera Navigation
 Video Attachment

Huang, HuajianThe Hong Kong University of Science and Technology
Lin, Wen-YanSingapore Management University
Liu, SiyingInstitute for Infocomm Research, Singapore
Zhang, DongSun Yat-Sen University
Yeung, Sai-KitHong Kong University of Science and Technology
 
TuAT19 Room T19
Visual SLAM II Regular session
Chair: Tombari, FedericoTechnische Universität München
Co-Chair: Kerr, DermotUniversity of Ulster
 
10:00-10:15, Paper TuAT19.1 
Deep Keypoint-Based Camera Pose Estimation with Geometric Constraints
 Video Attachment

Jau, You-YiUniversity of California San Diego
Zhu, RuiUniversity of California San Diego
Su, HaoUCSD
Chandraker, ManmohanUniversity of California, San Diego
 
10:15-10:30, Paper TuAT19.2 
DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features
 Video Attachment

Li, DongjiangBeijing Jiaotong University
Shi, XuesongIntel
Long, QiweiBeijingjiaotong University
Liu, ShenghuiIntel Corporation
Yang, WeiBeijing Jiaotong University, School of Electronic and Information
Wang, FangshiBeijing Jiaotong University
Wei, QiTsinghua University
Qiao, FeiTsinghua University
 
10:30-10:45, Paper TuAT19.3 
EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
 Video Attachment

Wu, YanminNortheastern University
Zhang, YunzhouNortheastern University
Zhu, DelongThe Chinese University of Hong Kong
Feng, YonghuiNortheastern University
Coleman, SonyaUniversity of Ulster
Kerr, DermotUniversity of Ulster
 
10:45-11:00, Paper TuAT19.4 
Dynamic Object Tracking and Masking for Visual SLAM
 Video Attachment

Vincent, JonathanUniversité De Sherbrooke
Labbé, MathieuUniversité De Sherbrooke
Lauzon, Jean-SamuelUniversité De Sherbrooke
Grondin, FrancoisMassachusetts Institute of Technology
Comtois-Rivet, Pier-MarcInstitut Du Vehicule Innovant
Michaud, FrancoisUniversite De Sherbrooke
 
11:00-11:15, Paper TuAT19.5 
Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments

Li, YanyanTechnical University of Munich
Brasch, NikolasTechnical University of Munich
Wang, YidaTechnical University of Munich
Navab, NassirTU Munich
Tombari, FedericoTechnische Universität München
 
11:15-11:30, Paper TuAT19.6 
Comparing Visual Odometry Systems in Actively Deforming Simulated Colon Environments
 Video Attachment

Fulton, MitchellUniversity of Colorado at Boulder
Prendergast, Joseph MicahUniversity of Colorado at Boulder
DiTommaso, Emily RoseUniversity of Colorado Boulder
Rentschler, MarkUniversity of Colorado at Boulder
 
TuAT20 Room T20
Visual SLAM III Regular session
Chair: Ila, ViorelaThe University of Sydney
Co-Chair: Indelman, VadimTechnion - Israel Institute of Technology
 
10:00-10:15, Paper TuAT20.1 
Speed and Memory Efficient Dense RGB-D SLAM in Dynamic Scenes
 Video Attachment

Canovas, BruceGIPSA-Lab
Rombaut, MicheleUniversite Grenoble Alpes
Pellerin, DenisUniv. Grenoble Alpes, CNRS, Grenoble INP, GIPSA-Lab
Negre, AmauryCnrs Gipsa Lab
 
10:15-10:30, Paper TuAT20.2 
DUI-VIO: Depth Uncertainty Incorporated Visual Inertial Odometrybased on an RGB-D Camera
 Video Attachment

Zhang, HeVirginia Commonwealth University
Ye, CangVirginia Commonwealth University
 
10:30-10:45, Paper TuAT20.3 
Probabilistic Qualitative Localization and Mapping

Mor, RoeeTechnion - Israel Institute of Technology
Indelman, VadimTechnion - Israel Institute of Technology
 
10:45-11:00, Paper TuAT20.4 
Robust Ego and Object 6-DoF Motion Estimation and Tracking
 Video Attachment

Zhang, JunAustralian National University
Henein, MinaAustralian National University
Mahony, RobertAustralian National University
Ila, ViorelaThe University of Sydney
 
11:00-11:15, Paper TuAT20.5 
SeqSphereVLAD: Sequence Matching Enhanced Orientation-Invariant Place Recognition
 Video Attachment

Yin, PengCarnegie Mellon University
Wang, FuyingTsinghua University
Egorov, AntonSkolkovo Institute of Science and Technology
Hou, JiafanThe Chinese University of Hong Kong, Shenzhen
Zhang, JiCarnegie Mellon University
Choset, HowieCarnegie Mellon University
 
11:15-11:30, Paper TuAT20.6 
Online Visual Place Recognition Via Saliency Re-Identification
 Video Attachment

Wang, HanNanyang Technological University
Wang, ChenCarnegie Mellon University
Xie, LihuaNanyangTechnological University
 
TuAT21 Room T21
SLAM Regular session
Chair: Steckel, JanUniversity of Antwerp
Co-Chair: Mangelson, JoshuaBrigham Young University
 
10:00-10:15, Paper TuAT21.1 
ARAS: Ambiguity-Aware Robust Active SLAM Based on Multi-Hypothesis State and Map Estimations
 Video Attachment

Hsiao, MingCarnegie Mellon University
Mangelson, JoshuaBrigham Young University
Suresh, SudharshanCarnegie Mellon University
Debrunner, ChrisLockheed Martin
Kaess, MichaelCarnegie Mellon University
 
10:15-10:30, Paper TuAT21.2 
On-Plate Localization and Mapping for an Inspection Robot Using Ultrasonic Guided Waves: A Proof of Concept
 Video Attachment

Pradalier, CedricGeorgiaTech Lorraine
Ouabi, Othmane-LatifUmi 2958 Gt-Cnrs
Pomarede, PascalGeorgiaTech Lorraine
Steckel, JanUniversity of Antwerp
 
10:30-10:45, Paper TuAT21.3 
Plug-And-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
 Video Attachment

Colosi, MircoSapienza, University of Rome
Aloise, IrvinSapienze University of Rome
Guadagnino, TizianoSapienza University of Rome
Schlegel, DominikSapienza - University of Rome
Della Corte, BartolomeoSapienza University of Rome
Arras, Kai OliverBosch Research
Grisetti, GiorgioSapienza University of Rome
 
10:45-11:00, Paper TuAT21.4 
Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees

Fan, TaoshaNorthwestern University
Murphey, ToddNorthwestern University
 
11:00-11:15, Paper TuAT21.5 
Variational Filtering with Copula Models for SLAM

Martin, John D.Stevens Institute of Technology
Doherty, KevinMassachusetts Institute of Technology
Cyr, CaralynStevens Institute of Technology
Englot, BrendanStevens Institute of Technology
Leonard, JohnMIT
 
11:15-11:30, Paper TuAT21.6 
Cluster-Based Penalty Scaling for Robust Pose Graph Optimization

Wu, FangEcole Polytechnique De Montreal
Beltrame, GiovanniEcole Polytechnique De Montreal
 
11:15-11:30, Paper TuAT21.7 
A Theory of Fermat Paths for 3D Imaging Sonar Reconstruction

Westman, EricCarnegie Mellon University
Gkioulekas, IoannisCarnegie Mellon University
Kaess, MichaelCarnegie Mellon University
 
TuAT22 Room T22
Sensor Fusion for SLAM Regular session
Chair: Atanasov, NikolayUniversity of California, San Diego
Co-Chair: Nakamura, YoshihikoUniversity of Tokyo
 
10:00-10:15, Paper TuAT22.1 
Tightly-Coupled Fusion of Global Positional Measurements in Optimization-Based Visual-Inertial Odometry

Cioffi, GiovanniUniversity of Zurich
Scaramuzza, DavideUniversity of Zurich
 
10:15-10:30, Paper TuAT22.2 
GR-SLAM: Vision-Based Sensor Fusion SLAM for Ground Robots on Complex Terrain
 Video Attachment

Su, YunShenyang Institute of Automation
Wang, TingRobotics Lab., Shenyang Institute of Automation, CAS
Yao, ChenShenyang Institute of Automation, Chinese Academy of Sciences
Shao, ShiliangSIA
Wang, ZhidongChiba Institute of Technology
 
10:30-10:45, Paper TuAT22.3 
OrcVIO: Object Residual Constrained Visual-Inertial Odometry
 Video Attachment

Shan, MoUniversity of California San Diego
Feng, QiaojunUniversity of California, San Diego
Atanasov, NikolayUniversity of California, San Diego
 
10:45-11:00, Paper TuAT22.4 
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
 Video Attachment

Zuo, XingxingZhejiang University
Yang, YulinUniversity of Delaware
Geneva, PatrickUniversity of Delaware
Lv, JiajunZhejiang University
Liu, YongZhejiang University
Huang, Guoquan (Paul)University of Delaware
Pollefeys, MarcETH Zurich
 
11:00-11:15, Paper TuAT22.5 
Leveraging Planar Regularities for Point Line Visual-Inertial Odometry
 Video Attachment

Li, XinPeking University
He, YijiaInstitute of Automation, Chinese Academy of Sciences
Lin, JinlongPeking University
Liu, XiaoMegvii Technology Inc
 
11:15-11:30, Paper TuAT22.6 
SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes
 Video Attachment

Li, YangThe University of Tokyo
Zhang, TianweiThe University of Tokyo
Nakamura, YoshihikoUniversity of Tokyo
Harada, TatsuyaThe University of Tokyo
 
TuAT23 Room T23
Range SLAM Regular session
Chair: Wang, SenEdinburgh Centre for Robotics, Heriot-Watt University
Co-Chair: Tan, U-XuanSingapore University of Techonlogy and Design
 
10:00-10:15, Paper TuAT23.1 
LIO-SAM: Tightly-Coupled Lidar Inertial Odometry Via Smoothing and Mapping

Shan, TixiaoMassachusetts Institute of Technology
Englot, BrendanStevens Institute of Technology
Meyers, DrewMIT
Wang, WeiMassachusetts Institute of Technology
Ratti, CarloMassachusetts Institute of Technology
Rus, DanielaMIT
 
10:15-10:30, Paper TuAT23.2 
LiTAMIN: LiDAR Based Tracking and MappINg by Stabilized ICP for Geometry Approximation with Normal Distributions
 Video Attachment

Yokozuka, MasashiNat. Inst. of Advanced Industrial Science and Technology
Koide, KenjiNational Institute of Advanced Industrial Science and Technology
Oishi, ShujiNational Institute of Advanced Industrial Science and Technology
Banno, AtsuhikoNational Instisute of Advanced Industrial Science and Technology
 
10:30-10:45, Paper TuAT23.3 
GOSMatch: Graph-Of-Semantics Matching for Detecting Loop Closures in 3D LiDAR Data

Zhu, YachenSun Yat-Sen University
Ma, YanyangSun Yat-Sen University
Chen, LongSun Yat-Sen University
Liu, CongSun Yat-Sen University
Ye, MaoshengWuhan University
Li, LingxiIndiana University-Purdue University Indianapolis
 
10:45-11:00, Paper TuAT23.4 
Seed: A Segmentation-Based Egocentric 3D Point Cloud Descriptor for Loop Closure Detection

Fan, YunfengSingapore University of Technology and Design
He, YichangSUTD
Tan, U-XuanSingapore University of Techonlogy and Design
 
11:00-11:15, Paper TuAT23.5 
RadarSLAM: Radar Based Large-Scale SLAM in All Weathers
 Video Attachment

Hong, ZiyangHeriot-Watt University
Petillot, Yvan R.Heriot-Watt University
Wang, SenEdinburgh Centre for Robotics, Heriot-Watt University
 
11:15-11:30, Paper TuAT23.6 
GP-SLAM+: Real-Time 3D Lidar SLAM Based on Improved Regionalized Gaussian Process Map Reconstruction
 Video Attachment

Ruan, JianyuanZhejiang University
Li, BoZhejiang University
Wang, YinqiangZhejiang University
Fang, ZhouZhejiang University
 
TuBT1 Room T1
Imitation Learning I Regular session
Chair: Stone, PeterUniversity of Texas at Austin
Co-Chair: Taniguchi, TadahiroRitsumeikan University
 
11:45-12:00, Paper TuBT1.1 
Domain-Adversarial and -Conditional State Space Model for Imitation Learning
 Video Attachment

Okumura, RyoPanasonic Corporation
Okada, MasashiPanasonic Corporation
Taniguchi, TadahiroRitsumeikan University
 
12:00-12:15, Paper TuBT1.2 
Planning on the Fast Lane: Learning to Interact Using Attention Mechanisms in Path Integral Inverse Reinforcement Learning
 Video Attachment

Rosbach, SaschaVolkswagen AG
Li, XingVolkswagen AG
Grossjohann, SimonVolkswagen AG
Homoceanu, SilviuVolkswagen AG
Roth, StefanTU Darmstadt
 
12:15-12:30, Paper TuBT1.3 
A Geometric Perspective on Visual Imitation Learning
 Video Attachment

Jin, JunUniversity of Alberta
Petrich, LauraUniversity of Alberta
Dehghan, MasoodUniversity of Alberta
Jagersand, MartinUniversity of Alberta
 
12:30-12:45, Paper TuBT1.4 
RIDM: Reinforced Inverse Dynamics Modeling for Learning from a Single Observed Demonstration
 Video Attachment

Pavse, BrahmaUniversity of Texas at Austin
Torabi, FarazUniversity of Texas at Austin
Hanna, JosiahThe University of Texas at Austin
Warnell, GarrettU.S. Army Research Laboratory
Stone, PeterUniversity of Texas at Austin
 
12:45-13:00, Paper TuBT1.5 
Learn by Observation: Imitation Learning for Drone Patrolling from Videos of a Human Navigator

Fan, YueJohns Hopkins University
Chu, ShileiShandong Univ
Zhang, WeiShandong University
Song, RanShandong University
Li, YibinShandong University
 
13:00-13:15, Paper TuBT1.6 
Imitation Learning Based on Bilateral Control for Human–Robot Cooperation
 Video Attachment

Sasagawa, AyumuSaitama University
Fujimoto, KazukiSaitama University
Sakaino, ShoUniversity of Tsukuba
Tsuji, ToshiakiSaitama University
 
TuBT2 Room T2
Imitation Learning II Regular session
Chair: Urain De Jesus, JulenTU Darmstadt
Co-Chair: Kolathaya, ShishirIndian Institute of Science
 
11:45-12:00, Paper TuBT2.1 
Multi-Instance Aware Localization for End-To-End Imitation Learning
 Video Attachment

Gubbi Venkatesh, SagarIndian Institute of Science
Upadrashta, RavitejaIndian Institute of Science
Kolathaya, ShishirIndian Institute of Science
Amrutur, BharadwajIndian Institute of Science
 
12:00-12:15, Paper TuBT2.2 
ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows

Urain De Jesus, JulenTU Darmstadt
Ginesi, MicheleUniversity of Verona
Tateo, DavideTechnische Universität Darmstadt
Peters, JanTechnische Universität Darmstadt
 
12:15-12:30, Paper TuBT2.3 
Standard Deep Generative Models for Density Estimation in Configuration Spaces: A Study of Benefits, Limits and Challenges

Gieselmann, RobertKTH Royal Institute of Technology
Pokorny, Florian T.KTH Royal Institute of Technology
 
12:30-12:45, Paper TuBT2.4 
Progressive Automation of Periodic Tasks on Planar Surfaces of Unknown Pose with Hybrid Force/position Control
 Video Attachment

Dimeas, FotiosAristotle University of Thessaloniki
Doulgeri, ZoeAristotle University of Thessaloniki
 
TuBT3 Room T3
Model Learning I Regular session
Chair: Kelly, JonathanUniversity of Toronto
Co-Chair: Mouret, Jean-BaptisteInria
 
11:45-12:00, Paper TuBT3.1 
Learning Hybrid Object Kinematics for Efficient Hierarchical Planning under Uncertainty
 Video Attachment

Jain, AjinkyaUniversity of Texas at Austin
Niekum, ScottUniversity of Texas at Austin
 
12:00-12:15, Paper TuBT3.2 
Learning State-Dependent Losses for Inverse Dynamics Learning

Morse, KristenFacebook AI Research
Das, NehaFacebook
Lin, YixinFacebook AI Research
Wang, Austin S.Carnegie Mellon University
Rai, AksharaFacebook AI Research
Meier, FranziskaFacebook
 
12:15-12:30, Paper TuBT3.3 
Fast Online Adaptation in Robotics through Meta-Learning Embeddings of Simulated Priors
 Video Attachment

Kaushik, RiturajINRIA - Nancy Grand Est, France
Anne, TimothéeENS Rennes
Mouret, Jean-BaptisteInria
 
12:30-12:45, Paper TuBT3.4 
Heteroscedastic Uncertainty for Robust Generative Latent Dynamics

Limoyo, OliverUniversity of Toronto
Chan, BryanUniversity of Toronto
Maric, FilipUniversity of Toronto Institute for Aerospace Studies
Wagstaff, BrandonUniversity of Toronto
Mahmood, Ashique RupamKindred Inc
Kelly, JonathanUniversity of Toronto
 
12:45-13:00, Paper TuBT3.5 
Multi-Robot Active Sensing and Environmental Model Learning with Distributed Gaussian Process
 Video Attachment

Jang, DohyunSeoul National University
Yoo, JaehyunHankyong National University
Son, Clark YoungdongSeoul National University
Kim, DabinSeoul National University
Kim, H. JinSeoul National University
 
13:00-13:15, Paper TuBT3.6 
Gaussians on Riemannian Manifolds: Applications for Robot Learning and Adaptive Control (I)

Calinon, SylvainIdiap Research Institute
 
TuBT4 Room T4
Model Learning II Regular session
Chair: Posner, IngmarOxford University
Co-Chair: Boularias, AbdeslamRutgers University
 
11:45-12:00, Paper TuBT4.1 
Self-Adapting Recurrent Models for Object Pushing from Learning in Simulation
 Video Attachment

Cong, LinUniversity of Hamburg
Görner, MichaelUniversity of Hamburg
Ruppel, PhilippUniversity of Hamburg
Liang, HongzhuoUniversity of Hamburg
Hendrich, NormanUniversity of Hamburg
Zhang, JianweiUniversity of Hamburg
 
12:00-12:15, Paper TuBT4.2 
A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning
 Video Attachment

Song, ChangkyuRutgers University
Boularias, AbdeslamRutgers University
 
12:15-12:30, Paper TuBT4.3 
Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction
 Video Attachment

Nematollahi, ImanUniversity of Freiburg
Mees, OierAlbert-Ludwigs-Universität
Hermann, LukasUniversity of Freiburg
Burgard, WolframToyota Research Institute
 
12:30-12:45, Paper TuBT4.4 
Multi-Sparse Gaussian Process: Learning Based Semi-Parametric Control
 Video Attachment

Khan, MouhyemenGeorgia Institute of Technology
Patel, AkashGeorgia Institute of Technology
Chatterjee, AbhijitGeorgia Institute of Technology
 
12:45-13:00, Paper TuBT4.5 
Decentralized Deep Reinforcement Learning for a Distributed and Adaptive Locomotion Controller of a Hexapod Robot
 Video Attachment

Schilling, MalteBielefeld University
Konen, KaiNeuroinformatics Group, Bielefeld University
Ohl, FrankLeibniz Institute for Neurobiology
Korthals, TimoBielefeld University
 
13:00-13:15, Paper TuBT4.6 
First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
 Video Attachment

Mitchell, Alexander LuisUniversity of Oxford
Engelcke, MartinUniversity of Oxford
Parker Jones, OiwiUniversity of Oxford
Surovik, DavidUniversity of Oxford
Gangapurwala, SiddhantUniversity of Oxford
Melon, Oliwier AleksanderUniversity of Oxford
Havoutis, IoannisUniversity of Oxford
Posner, IngmarOxford University
 
TuBT5 Room T5
Transfer Learning Regular session
Chair: Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
Co-Chair: Johns, EdwardImperial College London
 
11:45-12:00, Paper TuBT5.1 
Stir to Pour: Efficient Calibration of Liquid Properties for Pouring Actions
 Video Attachment

Lopez-Guevara, TatianaUniversity of Edinburgh
Pucci, RitaUniversity of Udine
Taylor, Nicholas K.Heriot-Watt University
Gutmann, Michael U.University of Edinburgh
Ramamoorthy, SubramanianThe University of Edinburgh
Subr, KarticThe University of Edinburgh
 
12:00-12:15, Paper TuBT5.2 
Haptic Knowledge Transfer between Heterogeneous Robots Using Kernel Manifold Alignment

Tatiya, GyanTufts University
Shukla, YashWorcester Polytechnic Institute
Edegware, MichaelTufts University
Sinapov, JivkoTufts University
 
12:15-12:30, Paper TuBT5.3 
Robo-Gym – an Open Source Toolkit for Distributed Deep Reinforcement Learning on Real and Simulated Robots
 Video Attachment

Lucchi, MatteoJoanneum Research
Zindler, FriedemannJoanneum Research
Mühlbacher-Karrer, StephanJOANNEUM RESEARCH Forschungsgesellschaft mbH - ROBOTICS
Pichler, HorstJoanneum Research Robotics
 
12:30-12:45, Paper TuBT5.4 
Crossing the Gap: A Deep Dive into Zero-Shot Sim-To-Real Transfer for Dynamics
 Video Attachment

Valassakis, EugeneImperial College London
Ding, ZihanImperial College London
Johns, EdwardImperial College London
 
12:45-13:00, Paper TuBT5.5 
Tensor Action Spaces for Multi-Agent Robot Transfer Learning
 Video Attachment

Schwab, DevinCarnegie Mellon University
Zhu, YifengUniversity of Texas, Austin
Veloso, ManuelaCarnegie Mellon University
 
13:00-13:15, Paper TuBT5.6 
TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
 Video Attachment

Kiemel, JonasKarlsruhe Institute of Technology
Weitemeyer, RobinKarlsruhe Institute of Technology
Meißner, PascalUniversity of Aberdeen
Kroeger, TorstenKarlsruher Institut Für Technologie (KIT)
 
TuBT6 Room T6
Learning from Demonstration Regular session
Chair: Lee, DongheuiTechnical University of Munich
Co-Chair: Calinon, SylvainIdiap Research Institute
 
11:45-12:00, Paper TuBT6.1 
Active Improvement of Control Policies with Bayesian Gaussian Mixture Model

Girgin, HakanEPFL, Idiap Research Institute
Pignat, EmmanuelIdiap Research Institute, Martigny, Switzerland
Jaquier, NoémieIdiap Research Institute
Calinon, SylvainIdiap Research Institute
 
12:00-12:15, Paper TuBT6.2 
Collaborative Programming of Conditional Robot Tasks
 Video Attachment

Willibald, ChristophGerman Aerospace Center (DLR)
Eiband, ThomasGerman Aerospace Center (DLR)
Lee, DongheuiTechnical University of Munich
 
12:15-12:30, Paper TuBT6.3 
Learning Constraint-Based Planning Models from Demonstrations

Loula, JoãoMIT
Allen, KelseyMassachusetts Institute of Technology
Silver, TomMIT
Tenenbaum, JoshuaMassachusetts Institute of Technology
 
12:30-12:45, Paper TuBT6.4 
Learning Object Manipulation with Dexterous Hand-Arm Systems from Human Demonstration
 Video Attachment

Ruppel, PhilippUniversity of Hamburg
Zhang, JianweiUniversity of Hamburg
 
12:45-13:00, Paper TuBT6.5 
MixGAIL: Autonomous Driving Using Demonstrations with Mixed Qualities
 Video Attachment

Lee, GunminSeoul National University
Kim, DohyeongSeoul National University
Oh, WooseokSeoul National Univetsity
Lee, KyungjaeSeoul National University
Oh, SonghwaiSeoul National University
 
13:00-13:15, Paper TuBT6.6 
Driving through Ghosts: Behavioral Cloning with False Positives
 Video Attachment

Bühler, AndreasETH Zürich
Gaidon, AdrienToyota Research Institute
Cramariuc, AndreiETHZ
Ambrus, RaresToyota Research Institute
Rosman, GuyMassachusetts Institute of Technology
Burgard, WolframToyota Research Institute
 
TuBT7 Room T7
Policy Learning Regular session
Chair: Gonzalez, Joseph E.UC Berkeley
Co-Chair: Ramos, FabioUniversity of Sydney, NVIDIA
 
11:45-12:00, Paper TuBT7.1 
Proximal Deterministic Policy Gradient

Maggipinto, MarcoUniversity of Padova
Susto, Gian AntonioUniversity of Padova
Chaudhari, PratikUniversity of Pennsylvania
 
12:00-12:15, Paper TuBT7.2 
Online BayesSim for Combined Simulator Parameter Inference and Policy Improvement
 Video Attachment

Possas, RafaelUniversity of Sydney
Barcelos, LucasUniversity of Sydney
Oliveira, RafaelUniversity of Sydney
Fox, DieterUniversity of Washington
Ramos, FabioUniversity of Sydney, NVIDIA
 
12:15-12:30, Paper TuBT7.3 
An Online Training Method for Augmenting MPC with Deep Reinforcement Learning
 Video Attachment

Bellegarda, GuillaumeUniversity of California, Santa Barbara
Byl, KatieUCSB
 
12:30-12:45, Paper TuBT7.4 
Stochastic Neural Control Using Raw Pointcloud Data and Building Information Models
 Video Attachment

Ferguson, MaxStanford University
Law, Kincho H.Stanford University
 
12:45-13:00, Paper TuBT7.5 
RILaaS: Robot Inference and Learning As a Service

Tanwani, Ajay KumarUC Berkeley
Anand, RaghavUC Berkeley
Gonzalez, Joseph E.UC Berkeley
Goldberg, KenUC Berkeley
 
13:00-13:15, Paper TuBT7.6 
Actor-Critic Reinforcement Learning for Control with Stability Guarantee
 Video Attachment

Han, MinghaoHarbin Institute of Technology
Zhang, LixianHarbin Institute of Technology
Wang, JunUniversity College London
Pan, WeiDelft University of Technology
 
TuBT8 Room T8
Reinforcement Learning Algorithms Regular session
Chair: Torras, CarmeCsic - Upc
Co-Chair: Guan, YishengGuangdong University of Technology
 
11:45-12:00, Paper TuBT8.1 
TTR-Based Reward for Reinforcement Learning with Implicit Model Priors

Lyu, XuboSimon Fraser University
Chen, MoSimon Fraser University
 
12:00-12:15, Paper TuBT8.2 
Learning Hierarchical Acquisition Functions for Bayesian Optimization

Rottmann, NilsUniversity of Luebeck
Kunavar, TjasaJozef Stefan Institute
Babic, JanJozef Stefan Institute
Peters, JanTechnische Universität Darmstadt
Rueckert, ElmarUniversity of Luebeck
 
12:15-12:30, Paper TuBT8.3 
Reinforcement Learning in Latent Action Sequence Space

Kim, HeecheolThe University of Tokyo
Yamada, MasanoriNTT
Miyoshi, KosukeNarrative Nights Inc
Iwata, TomoharuNTT
Yamakawa, HiroshiThe Whole Brain Architecture Initiative
 
12:30-12:45, Paper TuBT8.4 
Deep Adversarial Reinforcement Learning for Object Disentangling

Laux, MelvinTechnische Universtät Darmstadt
Arenz, OlegTU Darmstadt
Peters, JanTechnische Universität Darmstadt
Pajarinen, JoniTampere University
 
12:45-13:00, Paper TuBT8.5 
Contextual Policy Search for Micro-Data Robot Motion Learning through Covariate Gaussian Process Latent Variable Models
 Video Attachment

Delgado-Guerrero, Juan AntonioIRI
Colomé, AdriàInstitut De Robòtica I Informàtica Industrial (CSIC-UPC), Q28180
Torras, CarmeCsic - Upc
 
13:00-13:15, Paper TuBT8.6 
Invariant Transform Experience Replay: Data Augmentation for Deep Reinforcement Learning
 Video Attachment

Lin, YijiongGuangdong University of Technology
Huang, JiancongGuangdong University of Technology
Zimmer, MatthieuShanghai Jiao Tong University
Guan, YishengGuangdong University of Technology
Rojas, JuanChinese University of Hong Kong
Weng, PaulShanghai Jiao Tong University
 
TuBT9 Room T9
Reinforcement Learning Applications Regular session
Chair: Büscher, DanielAlbert-Ludwigs-Universität Freiburg
Co-Chair: Fantini, MichaelRice University
 
11:45-12:00, Paper TuBT9.1 
Efficiency and Equity Are Both Essential: A Generalized Traffic Signal Controller with Deep Reinforcement Learning
 Video Attachment

Yan, ShengchaoUniversity of Freiburg
Zhang, JingweiAlbert Ludwigs University of Freiburg
Büscher, DanielAlbert-Ludwigs-Universität Freiburg
Burgard, WolframToyota Research Institute
 
12:00-12:15, Paper TuBT9.2 
Ultrasound-Guided Robotic Navigation with Deep Reinforcement Learning

Hase, HannesTechnical University of Munich
Azampour, Mohammad FaridTechnical Univeristy of Munich
Tirindelli, MariaComputer Aided Medical Procedures, Technical University of Munic
Paschali, MagdaliniTechnical Univeristy of Munich
Simson, WalterTechnical University Munich
Fatemizadeh, EmadSharif University of Technology
Navab, NassirTU Munich
 
12:15-12:30, Paper TuBT9.3 
Deep R-Learning for Continual Area Sweeping

Shah, RishiThe University of Texas at Austin
Jiang, YuqianUniversity of Texas at Austin
Hart, JustinUniversity of Texas at Austin
Stone, PeterUniversity of Texas at Austin
 
12:30-12:45, Paper TuBT9.4 
Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards
 Video Attachment

Schoettler, GerritSiemens Corporation
Nair, AshvinUC Berkeley
Luo, JianlanUC Berkeley
Bahl, ShikharUC Berkeley
Aparicio Ojea, JuanSiemens
Solowjow, EugenSiemens Corporation
Levine, SergeyUC Berkeley
 
12:45-13:00, Paper TuBT9.5 
Robotic Table Tennis with Model-Free Reinforcement Learning
 Video Attachment

Gao, WenboColumbia University
Graesser, LauraGoogle
Choromanski, KrzysztofGoogle Brain Robotics
Song, XingyouGoogle Brain
Lazic, NevenaDeepmind
Sanketi, PannagGoogle
Sindhwani, VikasGoogle Brain, NYC
Jaitly, NavdeepGoogle Research
 
13:00-13:15, Paper TuBT9.6 
Optimizing a Continuum Manipulator's Search Policy through Model-Free Reinforcement Learning

Frazelle, ChaseClemson University
Rogers, JonathanNASA Johnson Space Center
Karamouzas, IoannisClemson University
Walker, IanClemson University
 
TuBT10 Room T10
Reinforcement Learning Regular session
Chair: Driggs-Campbell, KatherineUniversity of Illinois at Urbana-Champaign
Co-Chair: Niekum, ScottUniversity of Texas at Austin
 
11:45-12:00, Paper TuBT10.1 
Hypothesis-Driven Skill Discovery for Hierarchical Deep Reinforcement Learning
 Video Attachment

Chuck, CalebUniversity of Texas at Austin
Chockchowwat, SupawitThe University of Texas at Austin
Niekum, ScottUniversity of Texas at Austin
 
12:00-12:15, Paper TuBT10.2 
Robot Sound Interpretation: Combining Sight and Sound in Learning-Based Control
 Video Attachment

Chang, PeixinUniversity of Illinois at Urbana Champaign
Liu, ShuijingUniversity of Illinois at Urbana Champaign
Chen, HaonanZhejiang University-University of Illinois at Urbana-Champaign I
Driggs-Campbell, KatherineUniversity of Illinois at Urbana-Champaign
 
12:15-12:30, Paper TuBT10.3 
"Good Robot!": Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer
 Video Attachment

Hundt, AndrewJohns Hopkins University
Killeen, BenjaminJohns Hopkins University
Greene, NicholasJohns Hopkins University
Wu, HongtaoJohns Hopkins University
Kwon, HeeyeonJohns Hopkins University
Paxton, ChrisNVIDIA Research
Hager, GregoryJohns Hopkins University
 
12:30-12:45, Paper TuBT10.4 
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
 Video Attachment

Church, AlexUniversity of Bristol
Lloyd, JohnUniversity of Bristol
Hadsell, RaiaDeepMind
Lepora, NathanUniversity of Bristol
 
12:45-13:00, Paper TuBT10.5 
Encoding Formulas As Deep Networks: Reinforcement Learning for Zero-Shot Execution of LTL Formulas

Kuo, Yen-LingMIT
Katz, BorisMIT
Barbu, AndreiMIT
 
TuBT11 Room T11
Representation Learning Regular session
Chair: Jenkins, Odest ChadwickeUniversity of Michigan
Co-Chair: Sharf, InnaMcGill University
 
11:45-12:00, Paper TuBT11.1 
PlaNet of the Bayesians: Reconsidering and Improving Deep Planning Network by Incorporating Bayesian Inference
 Video Attachment

Okada, MasashiPanasonic Corporation
Kosaka, NorioPanasonic Corporation
Taniguchi, TadahiroRitsumeikan University
 
12:00-12:15, Paper TuBT11.2 
Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation
 Video Attachment

Lippi, MartinaUniversità Degli Studi Di Salerno
Poklukar, PetraKTH Royal Institute of Technology
Welle, Michael C.KTH Royal Institute of Technology
Varava, AnastasiiaKTH, the Royal Institute of Technology
Yin, HangKTH
Marino, AlessandroUniversity of Cassino and Southern Lazio
Kragic, DanicaKTH
 
12:15-12:30, Paper TuBT11.3 
Learning the Latent Space of Robot Dynamics for Cutting Interaction Inference
 Video Attachment

Rezaei-Shoshtari, SahandMcGill University
Meger, David PaulMcGill University
Sharf, InnaMcGill University
 
12:30-12:45, Paper TuBT11.4 
SwingBot: Learning Physical Features from In-Hand Tactile Exploration for Dynamic Swing-Up Manipulation
 Video Attachment

Wang, ChenShanghai Jiao Tong University
Wang, ShaoxiongMIT
Romero, BrandenMassachusetts Institute of Technology
Veiga, Filipe FernandesMIT
Adelson, EdwardMIT
 
12:45-13:00, Paper TuBT11.5 
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
 
13:00-13:15, Paper TuBT11.6 
TSBP: Tangent Space Belief Propagation for Manifold Learning

Cohn, ThomasUniversity of Michigan
Jenkins, Odest ChadwickeUniversity of Michigan
Desingh, KarthikUniversity of Michigan
Zeng, ZhenUniversity of Michigan
 
13:00-13:15, Paper TuBT11.7 
Improving Unimodal Object Recognition with Multimodal Contrastive Learning

Meyer, JohannesUniversity of Freiburg
Eitel, AndreasUniversity of Freiburg
Brox, ThomasUniversity of Freiburg
Burgard, WolframToyota Research Institute
 
TuBT12 Room T12
Collision Avoidance I Regular session
Chair: Gnanasekera, ManaramUniversity of New South Wales
 
11:45-12:00, Paper TuBT12.1 
Roadmap Subsampling for Changing Environments

Murray, SeanDuke University
Konidaris, GeorgeBrown University
Sorin, DanielDuke University
 
12:00-12:15, Paper TuBT12.2 
Robot Navigation in Crowded Environments Using Deep Reinforcement Learning
 Video Attachment

Liu, LuciaETH Zurich
Dugas, DanielETH Zurich
Cesari, GianlucaETH Zurich
Siegwart, RolandETH Zurich
Dubé, RenaudETH Zürich
 
12:15-12:30, Paper TuBT12.3 
Configuration Space Decomposition for Learning-Based Collision Checking in High-DOF Robots

Han, YihengTsinghua University
Zhao, WangTsinghua University
Pan, JiaUniversity of Hong Kong
Liu, Yong-JinTsinghua University
 
12:30-12:45, Paper TuBT12.4 
A Time Optimal Reactive Collision Avoidance Method for UAVs Based on a Modified Collision Cone Approach
 Video Attachment

Gnanasekera, ManaramUniversity of New South Wales
Katupitiya, JayanthaThe University of New South Wales
 
12:45-13:00, Paper TuBT12.5 
Computationally Efficient Obstacle Avoidance Trajectory Planner for UAVs Based on Heuristic Angular Search Method
 Video Attachment

Chen, HanThe Hongkong Polytechnic University
Lu, PengThe Hong Kong Polytechnic University
 
13:00-13:15, Paper TuBT12.6 
Closing the Loop: Real-Time Perception and Control for Robust Collision Avoidance with Occluded Obstacles
 Video Attachment

Tulbure, Andreea RoxanaETH
Khatib, OussamaStanford University
 
TuBT13 Room T13
Collision Avoidance II Regular session
Chair: Shames, ImanThe University of Melbourne
 
11:45-12:00, Paper TuBT13.1 
A Modified Hybrid Reciprocal Velocity Obstacles Approach for Multi-Robot Motion Planning without Communication
 Video Attachment

Sainte Catherine, MaximeCEA
Lucet, EricCEA Tech
 
12:00-12:15, Paper TuBT13.2 
Safe and Effective Picking Paths in Clutter Given Discrete Distributions of Object Poses
 Video Attachment

Wang, RuiRutgers University
Mitash, ChaitanyaRutgers University
Lu, ShiyangUniversity of Michigan, Ann Arbor
Boehm, DanielRutgers University
Bekris, Kostas E.Rutgers, the State University of New Jersey
 
12:15-12:30, Paper TuBT13.3 
Collision Avoidance Based on Robust Lexicographic Task Assignment

Wood, Tony A.University of Melbourne
Khoo, MitchellThe University of Melbourne
Michael, EladThe University of Melbourne
Manzie, ChrisUniversity of Melbourne
Shames, ImanThe University of Melbourne
 
12:30-12:45, Paper TuBT13.4 
Risk-Averse MPC Via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
 Video Attachment

Schperberg, AlexanderUniversity of California Los Angeles
Chen, KennyUniversity of California, Los Angeles
Tsuei, StephanieUniversity of California, Los Angeles
Jewett, MichaelUniversity of California, Los Angeles
Hooks, JoshuaUCLA
Soatto, StefanoUniversity of California, Los Angeles
Mehta, AnkurUCLA
Hong, DennisUCLA
 
12:45-13:00, Paper TuBT13.5 
A Data-Driven Framework for Proactive Intention-Aware Motion Planning of a Robot in a Human Environment
 Video Attachment

Peddi, RahulUniversity of Virginia
Di Franco, CarmeloUniversity of Virginia
Gao, ShijieUniversity of Virginia
Bezzo, NicolaUniversity of Virginia
 
13:00-13:15, Paper TuBT13.6 
Frozone: Freezing-Free, Pedestrian-Friendly Navigation in Human Crowds
 Video Attachment

Sathyamoorthy, Adarsh JaganUniversity of Maryland
Patel, UtsavUniversity of Maryland
Guan, TianruiUniversity of Maryland
Manocha, DineshUniversity of Maryland
 
TuBT14 Room T14
Perception for Navigation Regular session
Chair: Waslander, Steven LakeUniversity of Toronto
Co-Chair: Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chinese Academy of Science
 
11:45-12:00, Paper TuBT14.1 
Dynamic Attention-Based Visual Odometry
 Video Attachment

Kuo, Xin-YuNational Tsing Hua University
Liu, ChienNational Tsing Hua University
Lin, Kai-ChenNational Tsing Hua University
Luo, EvanNational Tsing Hua University
Chen, Yu-WenNational Tsing Hua University
Lee, Chun-YiNational Tsing Hua University
 
12:00-12:15, Paper TuBT14.2 
Richer Aggregated Features for Optical Flow Estimation with Edge-Aware Refinement

Wang, XianshunShanghai Institute of Microsystem and Information Technology, Ch
Zhu, DongchenShanghai Institute of Microsystem and Information Technology, Chi
Song, JiafeiSIMIT
Liu, YanqingShanghai Institute of Microsystem and Information Technology, Ch
Li, JiamaoShanghai Institute of Microsystem and Information Technology, Chi
Zhang, XiaolinShanghai Institute of Microsystem and Information Technology, Chi
 
12:15-12:30, Paper TuBT14.3 
LiDAR Iris for Loop-Closure Detection

Wang, YingNanjing University of Science and Technology
Sun, ZezhouNanjing 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
 
12:30-12:45, Paper TuBT14.4 
Confidence Guided Stereo 3D Object Detection with Split Depth Estimation
 Video Attachment

Li, ChengyaoUniversity of Toronto
Ku, JasonUniversity of Toronto
Waslander, Steven LakeUniversity of Toronto
 
12:45-13:00, Paper TuBT14.5 
End-To-End Contextual Perception and Prediction with Interaction Transformer

Li, LingyunUber Advanced Technologies Group
Yang, BinUniversity of Toronto
Liang, MingUber
Ren, MengyeUniversity of Toronto, Uber ATG
Zeng, WenyuanUniversity of Toronto, Uber
Segal, SeanUber ATG, University of Toronto
Urtasun, RaquelUniversity of Toronto
 
13:00-13:15, Paper TuBT14.6 
Inferring Spatial Uncertainty in Object Detection
 Video Attachment

Wang, ZiningUniversity of California, Berkeley
Feng, DiTechnical University of Munich
Zhou, YiyangUniversity of California, Berkeley
Rosenbaum, LarsRobert Bosch GmbH
Timm, FabianRobert Bosch GmbH
Dietmayer, KlausUniversity of Ulm
Tomizuka, MasayoshiUniversity of California
Zhan, WeiUniveristy of California, Berkeley
 
TuBT15 Room T15
Vision-Based Navigation I Regular session
Chair: Fermuller, CorneliaUniversity of Maryland
Co-Chair: Tran, QuangAIOZ
 
11:45-12:00, Paper TuBT15.1 
One-Shot Informed Robotic Visual Search in the Wild
 Video Attachment

Koreitem, KarimMcGill University
Shkurti, FlorianUniversity of Toronto
Manderson, TravisMcGill University
Chang, Wei-DiMcGill University
Gamboa Higuera, Juan CamiloMcGill University
Dudek, GregoryMcGill University
 
12:00-12:15, Paper TuBT15.2 
Perception-Aware Path Planning for UAVs Using Semantic Segmentation
 Video Attachment

Bartolomei, LucaETH Zurich
Teixeira, LucasETH Zurich
Chli, MargaritaETH Zurich
 
12:15-12:30, Paper TuBT15.3 
Learning Your Way without Map or Compass: Panoramic Target Driven Visual Navigation
 Video Attachment

Watkins-Valls, DavidColumbia University
Xu, JingxiColumbia University
Waytowich, NicholasUniversity of North Florida
Allen, PeterColumbia University
 
12:30-12:45, Paper TuBT15.4 
Autonomous Navigation in Complex Environments with Deep Multimodal Fusion Network
 Video Attachment

Nguyen, AnhImperial College London
Nguyen, NgocAIOZ Pte Ltd
Tran, Xuan KimCompany
Tjiputra, ErmanAIOZ
Tran, QuangAIOZ
 
12:45-13:00, Paper TuBT15.5 
Unsupervised Learning of Dense Optical Flow, Depth and Egomotion with Event-Based Sensors

Ye, ChengxiUniversity of Maryland
Mitrokhin, AntonUniversity of Maryland, College Park
Yorke, JamesUniversity of Maryland, College Park
Fermuller, CorneliaUniversity of Maryland
Aloimonos, YiannisUniversity of Maryland
 
13:00-13:15, Paper TuBT15.6 
HouseExpo: A Large-Scale 2D Indoor Layout Dataset for Learning-Based Algorithms on Mobile Robots
 Video Attachment

Li, TingguangThe Chinese University of Hong Kong
Ho, DannyThe Chinese University of Hong Kong
Li, ChenmingThe Chinese University of Hong Kong
Zhu, DelongThe Chinese University of Hong Kong
Wang, ChaoqunThe Chinese University of HongKong
Meng, Max Q.-H.The Chinese University of Hong Kong
 
TuBT16 Room T16
Vision-Based Navigation II Regular session
Chair: Gammell, JonathanUniversity of Oxford
Co-Chair: Yu, Changbin (Brad)The Australian National University
 
11:45-12:00, Paper TuBT16.1 
Multimodal Aggregation Approach for Memory Vision-Voice Indoor Navigation with Meta-Learning
 Video Attachment

Yan, LiqiFudan University
Liu, DongfangPurdue University
Song, YaoxianFudan University
Yu, Changbin (Brad)The Australian National University
 
12:00-12:15, Paper TuBT16.2 
Occlusion-Robust MVO: Multimotion Estimation through Occlusion Via Motion Closure
 Video Attachment

Judd, Kevin MichaelUniversity of Oxford
Gammell, JonathanUniversity of Oxford
 
12:15-12:30, Paper TuBT16.3 
IDOL: A Framework for IMU-DVS Odometry Using Lines
 Video Attachment

Le Gentil, CedricUniversity of Technology Sydney
Tschopp, FlorianETH Zurich
Alzugaray, IgnacioETH Zürich
Vidal-Calleja, Teresa A.University of Technology Sydney
Siegwart, RolandETH Zurich
Nieto, JuanETH Zürich
 
12:30-12:45, Paper TuBT16.4 
Point Cloud Based Reinforcement Learning for Sim-To-Real and Partial Observability in Visual Navigation
 Video Attachment

Lobos-Tsunekawa, KenzoUniversidad De Chile
Harada, TatsuyaThe University of Tokyo
 
12:45-13:00, Paper TuBT16.5 
Autonomous Robot Navigation Based on Multi-Camera Perception

Zhu, KunyanShandong University
Chen, WeiShandong University
Zhang, WeiShandong University
Song, RanShandong University
Li, YibinShandong University
 
TuBT17 Room T17
Vision-Based Navigation III Regular session
Chair: Kim, H. JinSeoul National University
Co-Chair: Tombari, FedericoTechnische Universität München
 
11:45-12:00, Paper TuBT17.1 
Model Quality Aware RANSAC: A Robust Camera Motion Estimator

Yeh, Shu-HaoTexas A&M University
Lu, YanGoogle
Song, DezhenTexas A&M University
 
12:00-12:15, Paper TuBT17.2 
A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors
 Video Attachment

Mo, JiaweiUniversity of Minnesota, Twin Cities
Sattar, JunaedUniversity of Minnesota
 
12:15-12:30, Paper TuBT17.3 
KLIEP-Based Density Ratio Estimation for Semantically Consistent Synthetic to Real Images Adaptation in Urban Traffic Scenes

Savkin, ArtemTUM
Tombari, FedericoTechnische Universität München
 
12:30-12:45, Paper TuBT17.4 
Graduated Assignment Graph Matching for Realtime Matching of Image Wireframes

Menke, JosephUniversity of California, Berkeley
Yang, AllenUniversity of California, Berkeley
 
12:45-13:00, Paper TuBT17.5 
Edge-Based Visual Odometry with Stereo Cameras Using Multiple Oriented Quadtrees
 Video Attachment

Kim, ChanghyeonSeoul National University
Kim, JunhaSeoul National University
Kim, H. JinSeoul National University
 
TuBT18 Room T18
Vision-Based Navigation IV Regular session
Chair: Karaman, SertacMassachusetts Institute of Technology
Co-Chair: Jawahar, C.V.IIIT, Hyderabad
 
11:45-12:00, Paper TuBT18.1 
Perception-Aware Path Finding and Following of Snake Robot in Unknown Environment
 Video Attachment

Yang, WeixinUniversity of Nevada, Reno
Wang, GangUniversity of Nevada
Shen, YantaoUniversity of Nevada, Reno
 
12:00-12:15, Paper TuBT18.2 
Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation

Spasojevic, IgorMIT
Murali, VarunMassachusetts Institute of Technology
Karaman, SertacMassachusetts Institute of Technology
 
12:15-12:30, Paper TuBT18.3 
AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot
 Video Attachment

Qin, TongHong Kong University of Science and Technology
Chen, TongqingHuawei Technology
Chen, YilunHuawei Technology
Su, QingHuawei Technologies Co., Ltd
 
12:30-12:45, Paper TuBT18.4 
DGAZE: Driver Gaze Mapping on Road
 Video Attachment

Dua, IshaIIIT Hyderbad
John, Thrupthi AnnIIIT Hyderbad
Gupta, RiyaIIIT Hyderabad
Jawahar, C.V.IIIT, Hyderabad
 
TuBT19 Room T19
Navigation and Collision Avoidance Regular session
Chair: Bera, AniketUniversity of Maryland
Co-Chair: Feng, ChenNew York University
 
11:45-12:00, Paper TuBT19.1 
Autonomous Obstacle Avoidance for UAV Based on Fusion of Radar and Monocular Camera
 Video Attachment

Yu, HangNorthwestern Polytechnical University
Zhang, FanNorthwestern Polytechnical Univeristy
Huang, PanfengNorthwestern Polytechnical University
Wang, ChenChang’an University
Yuanhao, LiNorthwestern Polytechnical University
 
12:00-12:15, Paper TuBT19.2 
UST: Unifying Spatio-Temporal Context for Trajectory Prediction in Autonomous Driving

He, HaoTuSimple
Dai, HengchenTusimple
Wang, NaiyanTuSimple
 
12:15-12:30, Paper TuBT19.3 
Automatic Failure Recovery and Re-Initialization for Online UAV Tracking with Joint Scale and Aspect Ratio Optimization

Ding, FangqiangTongji University
Fu, ChanghongTongji University
Li, YimingTongji University
Jin, JinTongji University
Feng, ChenNew York University
 
12:30-12:45, Paper TuBT19.4 
Asynchronous Event-Based Line Tracking for Time-To-Contact Maneuvers in UAS
 Video Attachment

Gómez Eguíluz, AugustoUniversity of Seville
Rodriguez-Gomez, Juan PabloUniversity of Seville
Martinez-de-Dios, Jose RamiroUniversity of Seville
Ollero, AnibalUniversity of Seville
 
12:45-13:00, Paper TuBT19.5 
Enhanced Transfer Learning for Autonomous Driving with Systematic Accident Simulation

Akhauri, ShivamUniversity of Maryland College Park
Zheng, LauraUniversity of Maryland, College Park
Lin, Ming C.University of Maryland at College Park
 
13:00-13:15, Paper TuBT19.6 
A Framework for Online Updates to Safe Sets for Uncertain Dynamics
 Video Attachment

Shih, JenniferUc Berkeley
Meier, FranziskaFacebook
Rai, AksharaFacebook AI Research
 
13:00-13:15, Paper TuBT19.7 
Nonlinear MPC for Collision Avoidance and Control of UAVs with Dynamic Obstacles
 Video Attachment

Lindqvist, BjörnLuleå University of Technology
Mansouri, Sina SharifLulea University of Technology
Agha-mohammadi, Ali-akbarNASA-JPL, Caltech
Nikolakopoulos, GeorgeLuleå University of Technology
 
TuBT20 Room T20
Learning for Mapping and Navigation Regular session
Chair: Hollinger, GeoffreyOregon State University
Co-Chair: Bauer, DanielRTWH
 
11:45-12:00, Paper TuBT20.1 
DMLO: Deep Matching LiDAR Odometry

Li, ZhichaoTusimple.ai
Wang, NaiyanTuSimple
 
12:00-12:15, Paper TuBT20.2 
Accurate and Robust Teach and Repeat Navigation by Visual Place Recognition: A CNN Approach
 Video Attachment

Camara, Luis G.CIIRC CTU Prague
Pivoňka, TomášCzech Institute of Informatics, Robotics and Cybernetics
Jilek, MartinCzech Technical University in Prague
Gäbert, CarlCzech Institute of Informatics, Robotics and Cybernetics
Kosnar, KarelCzech Technical University in Prague
Preucil, LiborCzech Technical University in Prague
 
12:15-12:30, Paper TuBT20.3 
Self-Supervised Simultaneous Alignment and Change Detection

Furukawa, YukukoNational Institute of Advanced Industrial Science and Technology
Suzuki, KumikoThe National Institute of Advanced Industrial Science and Techno
Hamaguchi, RyuheiNational Institute of Advanced Industrial Science and Technology
Onishi, MasakiNational Inst. of AIST
Sakurada, KenNational Institute of Advanced Industrial Science and Technology
 
12:30-12:45, Paper TuBT20.4 
Deep Inverse Sensor Models As Priors for Evidential Occupancy Mapping
 Video Attachment

Bauer, DanielRTWH
Kuhnert, LarsUniversity of Siegen
 
12:45-13:00, Paper TuBT20.5 
Online Exploration of Tunnel Networks Leveraging Topological CNN-Based World Predictions

Saroya, ManishOregon State University
Best, GraemeOregon State University
Hollinger, GeoffreyOregon State University
 
13:00-13:15, Paper TuBT20.6 
Building Energy-Cost Maps from Aerial Images and Ground Robot Measurements with Semi-Supervised Deep Learning

Wei, MinghanUniversity of Minnesota
Isler, VolkanUniversity of Minnesota
 
TuBT21 Room T21
Learning for Navigation Regular session
Chair: Michmizos, KonstantinosRutgers University
Co-Chair: Kanezaki, AsakoNational Institute of Advanced Industrial Science and Technology
 
11:45-12:00, Paper TuBT21.1 
Learning Local Planners for Human-Aware Navigation in Indoor Environments
 Video Attachment

Güldenring, RonjaMobile Industrial Robots ApS
Görner, MichaelUniversity of Hamburg
Hendrich, NormanUniversity of Hamburg
Jacobsen, Niels JulMobile Industrial Robots A/S
Zhang, JianweiUniversity of Hamburg
 
12:00-12:15, Paper TuBT21.2 
Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path

Ota, KeiMitsubishi Electric
Sasaki, YokoNational Inst. of Advanced Industrial Science and Technology
Jha, DeveshMitsubishi Electric Research Laboratories
Yoshiyasu, YusukeCNRS-AIST JRL
Kanezaki, AsakoNational Institute of Advanced Industrial Science and Technology
 
12:15-12:30, Paper TuBT21.3 
Multiplicative Controller Fusion: Leveraging Algorithmic Priors for Sample-Efficient Reinforcement Learning and Safe Sim-To-Real Transfer
 Video Attachment

Rana, KrishanQueensland University of Technology
Dasagi, VibhavariQueensland University of Technology
Talbot, BenQueensland University of Technology
Milford, Michael JQueensland University of Technology
Sünderhauf, NikoQueensland University of Technology
 
12:30-12:45, Paper TuBT21.4 
Reinforcement Learning-Based Hierarchical Control for Path Following of a Salamander-Like Robot
 Video Attachment

Zhang, XueyouNankai University
Guo, XianNankai University
Fang, YongchunNankai University
Zhu, WeiNankai University
 
12:45-13:00, Paper TuBT21.5 
Hierarchical Reinforcement Learning Method for Autonomous Vehicle Behavior Planning
 Video Attachment

Qiao, ZhiqianCarnegie Mellon University
Tyree, ZachariahGeneral Motors Research and Development
Mudalige, PriyanthaGeneral Motors
Schneider, JeffCarnegie Mellon University
Dolan, John M.Carnegie Mellon University
 
13:00-13:15, Paper TuBT21.6 
Reinforcement Co-Learning of Deep and Spiking Neural Networks for Energy-Efficient Mapless Navigation with Neuromorphic Hardware
 Video Attachment

Tang, GuangzhiRutgers University
Kumar, NeeleshRutgers University
Michmizos, KonstantinosRutgers University
 
TuBT22 Room T22
RL for Navigation and Locomotion Regular session
Chair: Meger, David PaulMcGill University
Co-Chair: Ruiz-del-Solar, JavierUniversidad De Chile
 
11:45-12:00, Paper TuBT22.1 
Learning Agile Locomotion Via Adversarial Training
 Video Attachment

Tang, YujinGoogle
Tan, JieGoogle
Harada, TatsuyaThe University of Tokyo
 
12:00-12:15, Paper TuBT22.2 
Stochastic Grounded Action Transformation for Robot Learning in Simulation
 Video Attachment

Desai, SiddharthThe University of Texas at Austin
Karnan, HareshThe University of Texas at Austin
Hanna, JosiahThe University of Texas at Austin
Warnell, GarrettU.S. Army Research Laboratory
Stone, PeterUniversity of Texas at Austin
 
12:15-12:30, Paper TuBT22.3 
Learning Domain Randomization Distributions for Training Robust Locomotion Policies

Mozifian, MelissaMcGill University
Gamboa Higuera, Juan CamiloMcGill University
Meger, David PaulMcGill University
Dudek, GregoryMcGill University
 
12:30-12:45, Paper TuBT22.4 
Robust RL-Based Map-Less Local Planning: Using 2D Point Clouds As Observations

Leiva, FranciscoUniversidad De Chile
Ruiz-del-Solar, JavierUniversidad De Chile
 
12:45-13:00, Paper TuBT22.5 
Deep Reinforcement Learning for Safe Local Planning of a Ground Vehicle in Unknown Rough Terrain
 Video Attachment

Josef, ShirelTechnion - Israel Institute of Technology
Degani, AmirTechnion - Israel Institute of Technology
 
13:00-13:15, Paper TuBT22.6 
Exploration Strategy Based on Validity of Actions in Deep Reinforcement Learning

Yoon, HyungsukSeoul National University
Lee, Sang-HyunSeoul National University
Seo, Seung-WooSeoul National University
 
13:00-13:15, Paper TuBT22.7 
Autonomous Exploration under Uncertainty Via Deep Reinforcement Learning on Graphs
 Video Attachment

Chen, FanfeiStevens Institute of Technology
Martin, John D.Stevens Institute of Technology
Huang, YeweiStevens Institute of Technology
Wang, JinkunStevens Institute of Technology
Englot, BrendanStevens Institute of Technology
 
TuBT23 Room T23
Semantic Mapping and Navigation Regular session
Chair: Wang, DanweiNanyang Technological University
Co-Chair: Buerger, Stephen P.Sandia National Laboratories
 
11:45-12:00, Paper TuBT23.1 
No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs

Liang, Claire YilanCornell University
Knepper, Ross--
Pokorny, Florian T.KTH Royal Institute of Technology
 
12:00-12:15, Paper TuBT23.2 
Rapid Autonomous Semantic Mapping

Parikh, AnupSandia National Laboratories
Koch, MarkSandia National Laboratories
Blada, TimothySandia National Laboratories
Buerger, Stephen P.Sandia National Laboratories
 
12:15-12:30, Paper TuBT23.3 
Lifelong Update of Semantic Maps in Dynamic Environments

Narayana, ManjunathIRobot Corp
Kolling, AndreasAmazon
Nardelli, LucioIRobot
Fong, PhilipIRobot
 
12:30-12:45, Paper TuBT23.4 
Efficient Object Search through Probability-Based Viewpoint Selection
 Video Attachment

Hernandez Silva, Alejandra CarolinaUniversity Carlos III of Madrid
Derner, ErikCzech Technical University in Prague
Gomez, ClaraUniversity Carlos III of Madrid
Barber, RamonUniversidad Carlos III of Madrid
Babuska, RobertDelft University of Technology
 
12:45-13:00, Paper TuBT23.5 
Dense Incremental Metric-Semantic Mapping Via Sparse Gaussian Process Regression
 Video Attachment

Zobeidi, EhsanUniversity of California San Diego
Koppel, AlecUniversity of Pennsylvania
Atanasov, NikolayUniversity of California, San Diego
 
13:00-13:15, Paper TuBT23.6 
Collaborative Semantic Perception and Relative Localization Based on Map Matching

Yue, YufengNanyang Technological University
Zhao, ChunyangNanyang Technological University
Wen, MingxingNanyang Technological University
Wu, ZhenyuNanyang Technological University
Wang, DanweiNanyang Technological University
 
TuCT1 Room T1
Performance Evaluation and Benchmarking Regular session
Chair: Ye, CangVirginia Commonwealth University
Co-Chair: Paull, LiamUniversité De Montréal
 
14:00-14:15, Paper TuCT1.1 
3D Odor Source Localization Using a Micro Aerial Vehicle: System Design and Performance Evaluation
 Video Attachment

Ercolani, ChiaraEPFL
Martinoli, AlcherioEPFL
 
14:15-14:30, Paper TuCT1.2 
BARK: Open Behavior Benchmarking in Multi-Agent Environments

Bernhard, JulianFortiss GmbH
Esterle, KlemensFortiss GmbH
Hart, PatrickFortiss GmbH
Kessler, TobiasFortiss GmbH
 
14:30-14:45, Paper TuCT1.3 
The VCU-RVI Benchmark: Evaluating Visual Inertial Odometry for Indoor Navigation Applications with an RGB-D Camera
 Video Attachment

Zhang, HeVirginia Commonwealth University
Jin, LingqiuVirginia Commonwealth University
Ye, CangVirginia Commonwealth University
 
14:45-15:00, Paper TuCT1.4 
A Framework for Human-Robot Interaction User Studies
 Video Attachment

Rajendran, VidyasagarUniversity of Waterloo
Carreno, PamelaMonash University
Fisher, WesleyUniversity of Waterloo
Werner, AlexanderUniversity of Waterloo
Kulic, DanaMonash University
 
15:00-15:15, Paper TuCT1.5 
Autonomous Vehicle Benchmarking Using Unbiased Metrics
 Video Attachment

Paz, DavidUniversity of California, San Diego
Lai, Po-JungUniversity of California San Diego
Chan, NathanUCSD
Jiang, YuqingUC San Diego
Christensen, Henrik IskovUC San Diego
 
15:15-15:30, Paper TuCT1.6 
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents

Tani, JacopoSwiss Federal Institute of Technology in Zurich (ETH Zurich)
Daniele, Andrea FToyota Technological Institute at Chicago
Camus, AmauryETHZ
Petrov, AleksandarETH Zurich
Courchesne, AnthonyMila, Université De Montréal
Mehta, BhairavMila
Suri, RohitETH Zurich
Bernasconi, GianmarcoETHZ
Walter, MatthewToyota Technological Institute at Chicago
Frazzoli, EmilioETH
Paull, LiamUniversité De Montréal
Censi, AndreaETH Zürich & NuTonomy
 
TuCT2 Room T2
Robot Safety Regular session
Chair: Sadigh, DorsaStanford University
Co-Chair: Spenko, MatthewIllinois Institute of Technology
 
14:00-14:15, Paper TuCT2.1 
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles

Dawson, CharlesMIT
M. Jasour, AshkanMIT
Hofmann, AndreasMIT
Williams, BrianMIT
 
14:15-14:30, Paper TuCT2.2 
Safety Considerations in Deep Control Policies with Safety Barrier Certificates under Uncertainty
 Video Attachment

Hirshberg, TomTechnion
Vemprala, SaiTexas A&M University
Kapoor, AshishMicroSoft
 
14:30-14:45, Paper TuCT2.3 
Infusing Reachability-Based Safety into Planning and Control for Multi-Agent Interactions

Wang, XinruiStanford University
Leung, KarenStanford University
Pavone, MarcoStanford University
 
14:45-15:00, Paper TuCT2.4 
Multi-Agent Safe Planning with Gaussian Processes

Zhu, ZheqingStanford University
Bıyık, ErdemStanford University
Sadigh, DorsaStanford University
 
15:00-15:15, Paper TuCT2.5 
Safe Path Planning with Multi-Model Risk Level Sets
 Video Attachment

Huang, ZefanSingapore-MIT Alliance for Research and Technology
Schwarting, WilkoMassachusetts Institute of Technology (MIT)
Pierson, AlyssaMassachusetts Institute of Technology
Hongliang, GuoSingapore MIT Alliance of Research and Technology
Ang Jr, Marcelo HNational University of Singapore
Rus, DanielaMIT
 
15:15-15:30, Paper TuCT2.6 
Localization Safety Validation for Autonomous Robots

Duenas Arana, GuillermoIllinois Institute of Technology
Abdul Hafez, OsamaIllinois Institute of Technology
Joerger, MathieuVirginia Tech
Spenko, MatthewIllinois Institute of Technology
 
TuCT3 Room T3
Trust and Explainability Regular session
Chair: Bryant, De'AiraGeorgia Institute of Technology
Co-Chair: Soh, HaroldNational Universtiy of Singapore
 
14:00-14:15, Paper TuCT3.1 
Human-Robot Trust Assessment Using Motion Tracking & Galvanic Skin Response
 Video Attachment

Hald, KasperAalborg University
Rehm, MatthiasAalborg University
Moeslund, Thomas B.Aalborg University
 
14:15-14:30, Paper TuCT3.2 
Organizing the Internet of Robotic Things: The Effect of Organization Structure on Users’ Evaluation and Compliance Toward IoRT Service Platform

Moon, Byeong JuneSeoul National University
Kwak, Sonya SonaKorea Institute of Science and Technology (KIST)
Choi, JongsukKorea Inst. of Sci. and Tech
 
14:30-14:45, Paper TuCT3.3 
Getting to Know One Another: Calibrating Intent, Capabilities, and Trust for Human-Robot Collaboration

Lee, Joshua Kai ShengNational University of Singapore
Fong, JeffreyNational University of Singapore
Kok, Bing CaiNational University of Singapore
Soh, HaroldNational Universtiy of Singapore
 
14:45-15:00, Paper TuCT3.4 
Online Explanation Generation for Planning Tasks in Human-Robot Teaming

Zakershahrak, MehrdadArizona State University
Gong, ZeArizona State University
Sadassivam, NikhilleshArizona State University
Zhang, Yu (Tony)Arizona State University
 
TuCT4 Room T4
Actuator & Joint Mechanisms I Regular session
Chair: Taylor, RebeccaCarnegie Mellon University
Co-Chair: Gaponov, IgorInnopolis University
 
14:00-14:15, Paper TuCT4.1 
IMU-Based Parameter Identification and Position Estimation in Twisted String Actuators

Nedelchev, SimeonInnopolis University
Kirsanov, DaniilInnopolis University
Gaponov, IgorInnopolis University
 
14:15-14:30, Paper TuCT4.2 
Reliable Chattering-Free Simulation of Friction Torque in Joints Presenting High Stiction

Cisneros Limon, RafaelNational Institute of Advanced Industrial Science and Technology
Benallegue, MehdiAIST Japan
Kikuuwe, RyoHiroshima University
Morisawa, MitsuharuNational Inst. of AIST
Kanehiro, FumioNational Inst. of AIST
 
14:30-14:45, Paper TuCT4.3 
A Study on the Elongation Behaviour of Synthetic Fibre Ropes under Cyclic Loading

Asane, DeorajWaseda University
Schmitz, AlexanderWaseda University
Wang, YushiWaseda University
Sugano, ShigekiWaseda University
 
14:45-15:00, Paper TuCT4.4 
Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils
 Video Attachment

Benjaminson, EmmaCarnegie Mellon University
Travers, MatthewCarnegie Mellon University
Taylor, RebeccaCarnegie Mellon University
 
TuCT5 Room T5
Actuator & Joint Mechanisms II Regular session
Chair: Park, JaeheungSeoul National University
Co-Chair: Verstraten, TomVrije Universiteit Brussel
 
14:00-14:15, Paper TuCT5.1 
Scaling Laws for Parallel Motor-Gearbox Arrangements

Saerens, EliasVrije Universiteit Brussel
Crispel, SteinVrije Universiteit Brussel
Lopez Garcia, PabloVrije Universiteit Brussel
Ducastel, VincentVrije Universiteit Brussel
Beckers, JarlVrije Universiteit Brussel
De Winter, JorisVrije Universiteit Brussel
Furnémont, RaphaëlVrije Universiteit Brussel
Vanderborght, BramVrije Universiteit Brussel
Verstraten, TomVrije Universiteit Brussel
Lefeber, DirkVrije Universiteit Brussel
 
14:15-14:30, Paper TuCT5.2 
A Concept of a Miniaturized MR Clutch Utilizing MR Fluid in Squeeze Mode

Pisetskiy, SergeyWestern University
Kermani, Mehrdad R.University of Western Ontario
 
14:30-14:45, Paper TuCT5.3 
Development and Evaluation of a Linear Series Clutch Actuator for Vertical Joint Application with Static Balancing

Kulkarni, ShardulWaseda University
Schmitz, AlexanderWaseda University
Funabashi, SatoshiWaseda University, Sugano Lab
Sugano, ShigekiWaseda University
 
14:45-15:00, Paper TuCT5.4 
Elastomeric Continuously Variable Transmission Combined with Twisted String Actuator
 Video Attachment

Kim, SeungyeonGraduate School of Convergence Science and Technology, Seoul Nat
Sim, JaehoonGraduate School of Convergence Science and Technology, Seoul Nat
Park, JaeheungSeoul National University
 
15:00-15:15, Paper TuCT5.5 
Low-Cost Coil-Shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit

Masuya, KenTokyo Institute of Technology
 
TuCT6 Room T6
Mechanism Design I Regular session
Chair: Zarrouk, DavidBen Gurion University
Co-Chair: Ma, ShugenRitsumeikan University
 
14:00-14:15, Paper TuCT6.1 
Static Characteristics of Fire Hose Actuators and Design of a Compliant Pneumatic Rotary Drive for Robotics
 Video Attachment

Stoll, Johannes T.Fraunhofer Institute for Manufacturing Engineering and Automatio
Schanz, KevinFraunhofer Institute for Manufacturing Engineering and Automatio
Derstroff, MichaelFraunhofer Institut - IPA
Pott, AndreasUniversity of Stuttgart
 
14:15-14:30, Paper TuCT6.2 
Long-Reach Compact Robotic Arm with LMPA Joints for Monitoring of Reactor Interior

Seino, AkiraFukushima University
Seto, NoriakiFukushima University
Canete, LuisUniversity of San Carlos
Takahashi, TakayukiFukushima University
 
14:30-14:45, Paper TuCT6.3 
An In-Pipe Manipulator for Contamination-Less Rehabilitation of Water Distribution Pipes

Yeung, Yip FunMIT
Youcef-Toumi, KamalMassachusetts Institute of Technology
 
14:45-15:00, Paper TuCT6.4 
Design and Implementation of a Pipeline Inspection Robot with Camera Image Compensation
 Video Attachment

Yuan, ZhaohanShanghai JiaoTong University
Yuan, JianjunShanghai University, China
Ma, ShugenRitsumeikan University
 
15:00-15:15, Paper TuCT6.5 
LineSpyX: A Power Line Inspection Robot Based on Digital Radiography
 Video Attachment

Gao, YuanSoutheast University
Song, GuangmingSoutheast University
Li, SongtaoSoutheast University
Zhen, FushuaiSoutheast University
Chen, DabingState Grid Jiangsu Electric Power Co., Ltd Research Institute
Song, AiguoSoutheast University
 
15:15-15:30, Paper TuCT6.6 
The AmphiSTAR High Speed Amphibious Sprawl Tuned Robot: Design and Experiments
 Video Attachment

Cohen, AviBen Gurion University of the Negev
Zarrouk, DavidBen Gurion University
 
TuCT7 Room T7
Mechanism Design II Regular session
Chair: Baek, StanleyUnited States Air Force Academy
Co-Chair: Fuchiwaki, OhmiYokohama National University (YNU)
 
14:00-14:15, Paper TuCT7.1 
Design of an Underactuated Peristaltic Robot on Soft Terrain

Scheraga, ScottUniversity of Michigan-Dearborn
Mohammadi, AlirezaUniversity of Michigan, Dearborn
Kim, TaehyungUniversity of Michigan-Dearborn
Baek, StanleyUnited States Air Force Academy
 
14:15-14:30, Paper TuCT7.2 
Design, Analysis and Preliminary Validation of a 3-DOF Rotational Inertia Generator
 Video Attachment

Tremblay-Bugeaud, Jean-FélixUniversité Laval
Laliberte, ThierryUniversite Laval
Gosselin, ClementUniversité Laval
 
14:30-14:45, Paper TuCT7.3 
Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure
 Video Attachment

Jeong, HyunhwanKorea University
Baek, SunhyukKorea University
Kim, Whee KukKorea University
Yi, Byung-JuHanyang University
 
14:45-15:00, Paper TuCT7.4 
Design of a Linear Gravity Compensator for a Prismatic Joint
 Video Attachment

Kim, Do-WonKorea University
Lee, Won-BumKorea University, Intelligence Robotics Laboratory
Song, Jae-BokKorea University
 
15:15-15:30, Paper TuCT7.6 
Development of Δ-Type Mobile Robot Driven by 3 Standing Wave Type Piezoelectric Ultrasonic Motors
 Video Attachment

Zhou, JuntianYokohama National University
Suzuki, MasakiYokohama National University
Takahashi, RyomaYokohama National University
Tanabe, KengoYokohama National University
Nishiyama, YukiYokohama National University
Sugiuchi, HajimeYokohama National University
Maeda, YusukeYokohama National University
Fuchiwaki, OhmiYokohama National University (YNU)
 
TuCT8 Room T8
Mechanism Design III Regular session
Chair: Tavakoli, MahdiUniversity of Alberta
Co-Chair: Inoue, SyuyaDepartment of Robotics, Ritsumeikan University
 
14:00-14:15, Paper TuCT8.1 
Locomotion Performance of a Configurable Paddle-Wheel Robot Over Dry Sandy Terrain

Shen, YayiTokyo Institution of Technology
Ma, ShugenRitsumeikan University
Zhang, GuotengShandong University
Inoue, SyuyaDepartment of Robotics, Ritsumeikan University
 
14:15-14:30, Paper TuCT8.2 
Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics

Afshar, MehrnooshUniversity of Alberta
Carriere, JayUniversity of Alberta
Meyer, TylerBaker Cancer Centre
Sloboda, RonaldCross Cancer Institute
Husain, SirajTom Baker Cancer Centre
Usmani, NawaidCross Cancer Institute
Tavakoli, MahdiUniversity of Alberta
 
14:30-14:45, Paper TuCT8.3 
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
 
14:45-15:00, Paper TuCT8.4 
A Multi-Link In-Pipe Inspection Robot Composed of Active and Passive Compliant Joints
 Video Attachment

Kakogawa, AtsushiRitsumeikan University
Ma, ShugenRitsumeikan University
 
15:00-15:15, Paper TuCT8.5 
An Algorithm to Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic Structure

Almarkhi, AhmadUniversity
Maciejewski, Anthony A.Colorado State University
Chong, Edwin K. P.Colorado State University
 
15:15-15:30, Paper TuCT8.6 
Continuously Variable Stiffness Mechanism Using Nonuniform Patterns on Coaxial Tubes for Continuum Microsurgical Robot (I)

Kim, JongwooThe Hospital for Sick Children, University of Toronto
Choi, Woo-YoungSeoul National University
Kang, Sung-ChulSamsung Research, Samsung Electronics
Kim, ChunwooKorea Institute of Science and Technology (KIST)
Cho, Kyu-JinSeoul National University, Biorobotics Laboratory
 
TuCT9 Room T9
Modular Robots & Actuators Regular session
Chair: Gorissen, BenjaminHarvard University
Co-Chair: Yang, WoosungKwangwoon University
 
14:00-14:15, Paper TuCT9.1 
Introduction to 7-DoF CoSMo-Arm : High Torque Density Manipulator Based on CoSMoA and E-CoSMo
 Video Attachment

Noh, JaehoKwangwoon University
Lee, JaeyongKwangwoon University
Cheon, SeyoungKwangwoon University
Yang, WoosungKwangwoon University
 
14:15-14:30, Paper TuCT9.2 
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, HuihuanShenzhen Institute of Artificial Intelligence and Robotics for S
Lam, Tin LunThe Chinese University of Hong Kong, Shenzhen
 
14:30-14:45, Paper TuCT9.3 
Design and Modelling of a Minimally Actuated Serial Robot
 Video Attachment

Ayalon, YotamBen Gurion University of the Negev
Damti, LiorBGU
Zarrouk, DavidBen Gurion University
 
14:45-15:00, Paper TuCT9.4 
R-Track: Separable Modular Climbing Robot Design for Wall-To-Wall Transition

Park, ChangminRoDEL
Bae, JanghoSeoul National University
Ryu, SijunHanyang University
Lee, JiseokHanyang University
Seo, TaeWonHanyang University
 
15:00-15:15, Paper TuCT9.5 
A Soft, Modular, and Bi-Stable Dome Actuator for Programmable Multi-Modal Locomotion
 Video Attachment

Bell, MichaelHarvard School of Engineering and Applied Sciences
Cattani, LucaEPFL
Gorissen, BenjaminHarvard University
Bertoldi, KatiaHarvard University
Weaver, JamesHarvard University/ Wyss
Wood, RobertHarvard University
 
TuCT10 Room T10
Parallel Robots Regular session
Chair: Rojas, NicolasImperial College London
Co-Chair: Bergeles, ChristosKing's College London
 
14:00-14:15, Paper TuCT10.1 
Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot
 Video Attachment

Nuelle, KathrinLeibniz Universität Hannover
Sterneck, TimLeibniz University Hannover
Lilge, SvenUniversity of Toronto Mississauga
Xiong, DezhuInstitute of Mechatronic Systems, Leibniz University Hannover
Burgner-Kahrs, JessicaUniversity of Toronto Mississauga
Ortmaier, TobiasLeibniz University Hanover
 
14:15-14:30, Paper TuCT10.2 
Transferability in an 8-DoF Parallel Robot with a Configurable Platform

Dahmouche, RedwanUniversité De Franche Comté
Wen, KefeiUniversité Laval
Gosselin, ClementUniversité Laval
 
14:30-14:45, Paper TuCT10.3 
Design, Modelling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform

Lambert, PatriceKing's College London
Da Cruz, LyndonMoorfields Eye Hospital
Bergeles, ChristosKing's College London
 
14:45-15:00, Paper TuCT10.4 
Continuous Tension Validation for Cable-Driven Parallel Robots
 Video Attachment

Bury, DianeTecnalia France
Izard, Jean-BaptisteTecnalia Research & Innovation
Gouttefarde, MarcCNRS
Lamiraux, FlorentCNRS
 
15:00-15:15, Paper TuCT10.5 
Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-Board Propellers
 Video Attachment

Khayour, ImaneUniversity of Strasbourg
Cuvillon, LoicUniversity of Strasbourg
Butin, CômeINSA Strasbourg
Yigit, ArdaUniversity of Strasbourg
Durand, SylvainINSA Strasbourg & ICube
Gangloff, JacquesUniversity of Strasbourg
 
15:15-15:30, Paper TuCT10.6 
On the False Positives and False Negatives of the Jacobian Matrix in Kinematically Redundant Parallel Mechanisms (I)

Baron, NicholasUniversity of Sussex
Philippides, AndrewUniversity of Sussex
Rojas, NicolasImperial College London
 
TuCT11 Room T11
Formal Methods and Planning I Regular session
Chair: Gao, XifengFlorida State University
Co-Chair: Feng, LuUniversity of Virginia
 
14:00-14:15, Paper TuCT11.1 
Generating New Lower Abstract Task Operator Using Grid-TLI
 Video Attachment

Tokuda, ShumpeiTokyo Institute of Technology
Katayama, MizuhoNEC Corporation
Yamakita, MasakiTokyo Inst. of Technology
Oyama, HiroyukiNEC Corporation
 
14:15-14:30, Paper TuCT11.2 
Inner-Approximation of Manipulable and Reachable Regions Using Bilinear Matrix Inequalities

Pan, ZherongThe University of North Carolina at Chapel Hill
Gao, XifengFlorida State University
Liang, HeUniversity of North Carolina at Chapel Hill
 
14:30-14:45, Paper TuCT11.3 
Towards Transparent Robotic Planningvia Contrastive Explanations

Chen, ShenghuiUniversity of Virginia
Boggess, KaylaUniversity of Virginia
Feng, LuUniversity of Virginia
 
14:45-15:00, Paper TuCT11.4 
Decentralized Safe Reactive Planning under TWTL Specifications

Peterson, RyanUniversity of Minnesota - Twin Cities
Buyukkocak, Ali TevfikUniversity of Minnesota
Aksaray, DeryaUniversity of Minnesota
Yazicioglu, YasinUniversity of Minnesota
 
TuCT12 Room T12
Formal Methods and Planning II Regular session
Chair: O'Kane, JasonUniversity of South Carolina
Co-Chair: Dolan, John M.Carnegie Mellon University
 
14:00-14:15, Paper TuCT12.1 
Fast LTL-Based Flexible Planning for Dual-Arm Manipulation
 Video Attachment

Katayama, MizuhoNEC Corporation
Tokuda, ShumpeiTokyo Institute of Technology
Yamakita, MasakiTokyo Inst. of Technology
Oyama, HiroyukiNEC Corporation
 
14:15-14:30, Paper TuCT12.2 
Geometrical Interpretation and Detection of Multiple Task Conflicts Using a Coordinate Invariant Index

Schettino, VincenzoKUKA Deutschland GmbH
Fiore, Mario DanieleKUKA Deutschland GmbH
Pecorella, ClaudiaUniversità Degli Studi Di Napoli Federico II
Ficuciello, FannyUniversità Di Napoli Federico II
Allmendinger, FelixKUKA Roboter GmbH
Lachner, JohannesUniversity of Twente
Stramigioli, StefanoUniversity of Twente
Siciliano, BrunoUniv. Napoli Federico II
 
14:30-14:45, Paper TuCT12.3 
What to Do When You Can't Do It All: Temporal Logic Planning with Soft Temporal Logic Constraints

Rahmani, HazharUniversity of South Carolina
O'Kane, JasonUniversity of South Carolina
 
14:45-15:00, Paper TuCT12.4 
ReachFlow: An Online Safety Assurance Framework for Waypoint-Following of Self-Driving Cars
 Video Attachment

Lin, QinCarnegie Mellon University
Chen, XinUniversity of Dayton
Khurana, AmanCarnegie Mellon University
Dolan, John M.Carnegie Mellon University
 
TuCT13 Room T13
Geometric Methods in Planning Regular session
Chair: Tapia, LydiaUniversity of New Mexico
Co-Chair: Denny, JoryUniversity of Richmond
 
14:00-14:15, Paper TuCT13.1 
Competitive Coverage: (Full) Information As a GameChanger
 Video Attachment

Samson, MosheBar-Ilan University
Agmon, NoaBar Ilan University
 
14:15-14:30, Paper TuCT13.2 
Planning for Robust Visibility-Based Pursuit-Evasion
 Video Attachment

Stiffler, NicholasUniversity of South Carolina
O'Kane, JasonUniversity of South Carolina
 
14:30-14:45, Paper TuCT13.3 
Topology-Guided Roadmap Construction with Dynamic Region Sampling

Sandstrom, ReadTexas A&M University
Uwacu, DianeTexas A&M University
Denny, JoryUniversity of Richmond
Amato, NancyUniversity of Illinois
 
14:45-15:00, Paper TuCT13.4 
Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns

Teramae, TatsuyaATR Computational Neuroscience Laboratories
Matsubara, TakamitsuNara Institute of Science and Technology
Noda, TomoyukiATR Computational Neuroscience Laboratories
Morimoto, JunATR Computational Neuroscience Labs
 
15:00-15:15, Paper TuCT13.5 
Deep Prediction of Swept Volume Geometries: Robots and Resolutions
 Video Attachment

Baxter, JohnUniversity of New Mexico
Yousefi, Mohammad R.University of New Mexico
Sugaya, SatomiThe University of New Mexico
Morales, MarcoInstituto Tecnológico Autónomo De México
Tapia, LydiaUniversity of New Mexico
 
15:15-15:30, Paper TuCT13.6 
Asymptotically-Optimal Topological Nearest-Neighbor Filtering

Sandstrom, ReadTexas A&M University
Denny, JoryUniversity of Richmond
Amato, NancyUniversity of Illinois
 
TuCT14 Room T14
Motion and Path Planning I Regular session
Chair: Balkcom, DevinDartmouth College
Co-Chair: Schoellig, Angela P.University of Toronto
 
14:00-14:15, Paper TuCT14.1 
PLRC*: A Piecewise Linear Regression Complex for Approximating Optimal Robot Motion

Zhao, LuyangDartmouth College
Putman, JosiahDartmouth College
Wang, WeifuUniversity at Albany, SUNY
Balkcom, DevinDartmouth College
 
14:15-14:30, Paper TuCT14.2 
Relevant Region Exploration on General Cost-Maps for Sampling-Based Motion Planning
 Video Attachment

Joshi, SagarGeorgia Institute of Technology
Tsiotras, PanagiotisGeorgia Tech
 
14:30-14:45, Paper TuCT14.3 
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
 
14:45-15:00, Paper TuCT14.4 
Towards General Infeasibility Proofs in Motion Planning

Li, SihuiColorado School of Mines
Dantam, NeilColorado School of Mines
 
15:00-15:15, Paper TuCT14.5 
Accelerating Bi-Directional Sampling-Based Search for Motion Planning of Non-Holonomic Mobile Manipulators
 Video Attachment

Thakar, ShantanuUniversity of Southern California
Rajendran, PradeepUniversity of Southern California
Kim, HyojeongUniversity of Southern California
Kabir, Ariyan MUniversity of Southern California
Gupta, Satyandra K.University of Southern California
 
15:15-15:30, Paper TuCT14.6 
Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators Via Inverse Dynamics Learning
 Video Attachment

Dong, KeUniversity of Toronto
Pereida Perez, KarimeUniversity of Toronto
Shkurti, FlorianUniversity of Toronto
Schoellig, Angela P.University of Toronto
 
TuCT15 Room T15
Motion and Path Planning II Regular session
Chair: Liu, CunjiaLoughborough University
Co-Chair: McMahon, JamesThe Naval Research Laboratory
 
14:00-14:15, Paper TuCT15.1 
Informative Path Planning for Gas Distribution Mapping in Cluttered Environments
 Video Attachment

Rhodes, CallumLoughborough University
Liu, CunjiaLoughborough University
Chen, Wen-HuaLoughborough University
 
14:15-14:30, Paper TuCT15.2 
Intent-Driven Strategic Tactical Planning for Autonomous SiteInspection Using Cooperative Drones

Buksz, Rares-dorianKing's College London
Mujumdar, AnushaEricsson Research
Orlic, MarinEricsson Research
Mohalik, SwarupGM R&D
Daoutis, MariosEricsson
Ramamurthy, BadrinathEricsson
Magazzeni, DanieleKing's College London
Cashmore, MichaelUniversity of Strathclyde
Vulgarakis Feljan, AnetaEricsson Research
 
14:30-14:45, Paper TuCT15.3 
Extended Performance Guarantees for Receding Horizon Search with Terminal Cost

Biggs, BenjaminVirginia Polytechnic Institute and State University
Stilwell, DanielVirginia Tech
McMahon, JamesThe Naval Research Laboratory
 
14:45-15:00, Paper TuCT15.4 
Path Planning for Mobile Manipulators under Nonholonomic and Task Constraints
 Video Attachment

Pardi, TommasoUniversity of Birmingham
Maddali, Vamsi KrishnaUniversity of Birmingham
Ortenzi, ValerioUniversity of Birmingham
Stolkin, RustamUniversity of Birmingham
Marturi, NareshUniversity of Birmingham
 
15:00-15:15, Paper TuCT15.5 
Inverse Kinematics of Redundant Manipulators with Dynamic Bounds on Joint Movements

Faroni, MarcoNational Research Council of Italy
Beschi, ManuelNational Research Council of Italy
Pedrocchi, NicolaNational Research Council of Italy (CNR)
 
15:15-15:30, Paper TuCT15.6 
Trajectory Planning Over Regular General Surfaces with Application in Robot-Guided Deposition Printing
 Video Attachment

Hosseini Jafari, BashirUniversit of Texas Atdallas
Gans, Nicholas (Nick)University Texas at Arlington
 
TuCT16 Room T16
Motion and Path Planning III Regular session
Chair: Cefalo, MassimoSapienza University of Rome
Co-Chair: Ankarali, Mustafa MertMiddle East Technical University
 
14:00-14:15, Paper TuCT16.1 
Fast Sequence Rejection for Multi-Goal Planning with Dubins Vehicle

Faigl, JanCzech Technical University in Prague
Váňa, PetrCzech Technical University in Prague
Drchal, JanCzech Technical University in Prague
 
14:15-14:30, Paper TuCT16.2 
Experience-Based Prediction of Unknown Environments for Enhanced Belief Space Planning

Asraf, OmriTechnion
Indelman, VadimTechnion - Israel Institute of Technology
 
14:30-14:45, Paper TuCT16.3 
Anytime Kinodynamic Motion Planning Using Region-Guided Search

Westbrook, MatthewUniversity of New Hampshire
Ruml, WheelerUniversity of New Hampshire
 
14:45-15:00, Paper TuCT16.4 
MPC-Graph: Feedback Motion Planning Using Sparse Sampling Based Neighborhood Graph
 Video Attachment

Karagoz, Osman KaanMiddle East Technical University
Atasoy, SimayMiddle East Technical University
Ankarali, Mustafa MertMiddle East Technical University
 
15:00-15:15, Paper TuCT16.5 
A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control

Paparusso, LucaPolitecnico Di Milano
Kashiri, NavvabIstituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
15:15-15:30, Paper TuCT16.6 
An Opportunistic Strategy for Motion Planning in the Presence of Soft Task Constraints
 Video Attachment

Cefalo, MassimoSapienza University of Rome
Ferrari, PaoloSapienza University of Rome
Oriolo, GiuseppeSapienza University of Rome
 
15:15-15:30, Paper TuCT16.7 
Adaptive Reliable Shortest Path in Gaussian Process Regulated Environment

Hou, XuejieUniversity of Electronic Science and Technology of China
Hongliang, GuoUniversity of Electronic Science and Technology of China
Zhang, YuchengIntelligent Agricultural Machinery Equipment Laboratory of Chine
 
TuCT17 Room T17
Motion and Path Planning: Coverage Regular session
Chair: Nili Ahmadabadi, ZahraSan Diego State University
Co-Chair: Karydis, KonstantinosUniversity of California, Riverside
 
14:00-14:15, Paper TuCT17.1 
Exploration of Unknown Environments with a Tethered Mobile Robot
 Video Attachment

Shapovalov, DanyloWest Virginia University
Pereira, GuilhermeWest Virginia University
 
14:15-14:30, Paper TuCT17.2 
Completeness Seeking Probabilistic Coverage Estimation Using Uncertain State Estimates

Mahajan, AdityaStanford University
Rock, StephenStanford
 
14:30-14:45, Paper TuCT17.3 
A Multi-System Chaotic Path Planner for Fast and Unpredictable Online Coverage of Terrains
 Video Attachment

Sridharan, KaranWichita State University
Nili Ahmadabadi, ZahraWichita State University
 
14:45-15:00, Paper TuCT17.4 
Online Exploration and Coverage Planning in Unknown Obstacle-Cluttered Environments
 Video Attachment

Kan, XinyueUniversity of California, Riverside
Teng, HanzheUniversity of California, Riverside
Karydis, KonstantinosUniversity of California, Riverside
 
15:00-15:15, Paper TuCT17.5 
Visual Coverage Path Planning for Urban Environments
 Video Attachment

Peng, ChengUniverisyt of Minnesota, Twin Cities
Isler, VolkanUniversity of Minnesota
 
15:15-15:30, Paper TuCT17.6 
Max Orientation Coverage: Efficient Path Planning to Avoid Collisions in the CNC Milling of 3D Objects

Chen, XinGeorgia Institute of Technology
Tucker, Thomas M.Tucker Innovations
Kurfess, ThomasGeorgia Tech
Vuduc, RichardGeorgia Institute of Technology
Hu, LitingFlorida International University
 
TuCT18 Room T18
Task Planning Regular session
Chair: Fazli, PooyanSan Francisco State University
Co-Chair: Sarkar, ChayanTCS Research & Innovation
 
14:00-14:15, Paper TuCT18.1 
Task Planning with Belief Behavior Trees
 Video Attachment

Safronov, EvgeniiIstituto Italiano Di Tecnologia
Colledanchise, MicheleIIT - Italian Institute of Technology
Natale, LorenzoIstituto Italiano Di Tecnologia
 
14:15-14:30, Paper TuCT18.2 
Cleaning Robot Operation Decision Based on Causal Reasoning and Attribute Learning

Li, YapengXiangtan University
Zhang, DongboXiangtan University
Yin, FengXiangtan University
Zhang, YingXiangtan University
 
14:30-14:45, Paper TuCT18.3 
Robust Task and Motion Planning for Long-Horizon Problems
 Video Attachment

Hartmann, Valentin NoahUniversity of Stuttgart
Oguz, Ozgur S.University of Stuttgart
Driess, DannyUniversity of Stuttgart
Toussaint, MarcTu Berlin
Menges, AchimInsitute for Computational Design and Construction, University O
 
14:45-15:00, Paper TuCT18.4 
Task Planning from Complex Natural Instructions by a Collocating Robot
 Video Attachment

Pramanick, PradipTCS Research & Innovation
Barua, Hrishav BakulTCS Research & Innovation
Sarkar, ChayanTCS Research & Innovation
 
15:00-15:15, Paper TuCT18.5 
Leveraging Multiple Environments for Learning and Decision Making: A Dismantling Use Case

Suárez-Hernández, AlejandroCSIC-UPC
Gaugry, ThierryUniv. Rennes, INSA, IRISA
Segovia-Aguas, JavierInstitut De Robòtica I Informàtica Industrial (IRI), CSIC-UPC
Bernardin, AntoninINSA Rennes
Torras, CarmeCsic - Upc
Marchal, MaudINSA/INRIA
Alenyà, GuillemCSIC-UPC
 
15:15-15:30, Paper TuCT18.6 
Multi-Robot Task Allocation with Time Window and Ordering Constraints

Suslova, ElinaSan Francisco State University
Fazli, PooyanSan Francisco State University
 
TuCT19 Room T19
Learning in Motion Planning Regular session
Chair: Yip, Michael C.University of California, San Diego
Co-Chair: Pan, JiaUniversity of Hong Kong
 
14:00-14:15, Paper TuCT19.1 
Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning

Rousseas, PanagiotisNTUA
Bechlioulis, CharalamposNational Technical University of Athens
Kyriakopoulos, KostasNational Technical Univ. of Athens
 
14:15-14:30, Paper TuCT19.2 
Learning to Use Adaptive Motion Primitives in Search-Based Motion Planning for Navigation

Sood, RaghavCarnegie Mellon University
Vats, ShivamCarnegie Mellon University
Likhachev, MaximCarnegie Mellon University
 
14:30-14:45, Paper TuCT19.3 
Adaptive Dynamic Window Approach for Local Navigation

Dobrevski, MatejUniversity of Ljubljana
Skocaj, DanijelUniversity of Ljubljana
 
14:45-15:00, Paper TuCT19.4 
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots
 Video Attachment

Johnson, JacobUCSD
Linjun, LiUniversity of California San Diego
Liu, FeiUniversity of California San Diego
Qureshi, Ahmed HussainUniversity of California San Diego
Yip, Michael C.University of California, San Diego
 
15:00-15:15, Paper TuCT19.5 
Defensive Escort Teams for Navigation in Crowds Via Multi-Agent Deep Reinforcement Learning
 Video Attachment

Hasan, YaziedUniversity of New Mexico
Garg, ArpitUniversity of New Mexico
Sugaya, SatomiThe University of New Mexico
Tapia, LydiaUniversity of New Mexico
 
15:15-15:30, Paper TuCT19.6 
DeepMNavigate: Deep Reinforced Multi-Robot Navigation Unifying Local & Global Collision Avoidance
 Video Attachment

Tan, QingyangUniversity of Maryland at College Park
Fan, TingxiangThe University of Hong Kong
Pan, JiaUniversity of Hong Kong
Manocha, DineshUniversity of Maryland
 
TuCT20 Room T20
Planning and Safety Regular session
Chair: Dames, PhilipTemple University
Co-Chair: Tron, RobertoBoston University
 
14:00-14:15, Paper TuCT20.1 
Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators

Baradaran Birjandi, Seyed AliTechnical University of Munich
Haddadin, SamiTechnical University of Munich
 
14:15-14:30, Paper TuCT20.2 
Collision-Free Distributed Multi-Target Tracking Using Teams of Mobile Robots with Localization Uncertainty
 Video Attachment

Chen, JunTemple University
Dames, PhilipTemple University
 
14:30-14:45, Paper TuCT20.3 
Augmenting Control Policies with Motion Planning for Robust and Safe Multi-Robot Navigation

Pan, TianyangRice University
Verginis, ChristosElectrical Engineering, KTH Royal Institute of Technology
Wells, AndrewRice University
Kavraki, LydiaRice University
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
14:45-15:00, Paper TuCT20.4 
Lloyd-Based Approach for Robots Navigation in Human-Shared Environments
 Video Attachment

Boldrer, ManuelUniversity of Trento
Palopoli, LuigiUniversity of Trento
Fontanelli, DanieleUniversity of Trento
 
15:00-15:15, Paper TuCT20.5 
Multi-Agent Path Planning under Observation Schedule Constraints
 Video Attachment

Yang, ZiqiBoston University
Tron, RobertoBoston University
 
15:15-15:30, Paper TuCT20.6 
Game-Theoretic Planning for Risk-Aware Interactive Agents

Wang, MingyuStanford University
Mehr, NegarStanford University
Gaidon, AdrienToyota Research Institute
Schwager, MacStanford University
 
15:15-15:30, Paper TuCT20.7 
Energy Autonomy for Resource-Constrained Multi Robot Missions
 Video Attachment

Fouad, HassanComputer Engineering Dept., École Polytechnique De Montréal, Can
Beltrame, GiovanniEcole Polytechnique De Montreal
 
TuCT21 Room T21
Planning in Challenging Environments Regular session
Chair: Neumann, GerhardKarlsruhe Institute of Technology
Co-Chair: Isele, DavidUniversity of Pennsylvania, Honda Research Institute USA
 
14:00-14:15, Paper TuCT21.1 
Improving Autonomous Rover Guidance in Round-Trip Missions Using Dynamic Cost Map

Paz Delgado, Gonzalo JesúsUniversity of Málaga
Azkarate, MartinEuropean Space Agency (ESA) - ESTEC
Sanchez, RicardoUniversity of Malaga
Perez-del-Pulgar, CarlosUniversidad De Málaga
Gerdes, LevinESA/ESTEC
García-Cerezo, AlfonsoUniversity of Malaga
 
14:15-14:30, Paper TuCT21.2 
A Comprehensive Trajectory Planner for a Person-Following ATV
 Video Attachment

Febbo, HuckleberryUniversity of Michigan, Honda Research Institute USA
Huang, JiaweiHonda Research Institute USA
Isele, DavidUniversity of Pennsylvania, Honda Research Institute USA
 
14:30-14:45, Paper TuCT21.3 
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
 Video Attachment

Suh, Hyung Ju TerryMassachusetts Institute of Technology
Xiong, XiaobinCalifornia Institute of Technology
Singletary, AndrewCalifornia Institute of Technology
Ames, AaronCaltech
Burdick, JoelCalifornia Institute of Technology
 
14:45-15:00, Paper TuCT21.4 
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 Technolo
Greene, Rebecca J.Johns Hopkins University
Lizewski, JacobGeorgia Tech
Patel, VandanGeorgia Institute of Technology
Gammell, JonathanUniversity of Oxford
Nesnas, IssaJet Propulsion Laboratory
 
15:00-15:15, Paper TuCT21.5 
Probabilistic Approach to Physical Object Disentangling

Pajarinen, JoniTampere University
Arenz, OlegTU Darmstadt
Peters, JanTechnische Universität Darmstadt
Neumann, GerhardKarlsruhe Institute of Technology
 
TuCT22 Room T22
Reactive and Sensor-Based Planning I Regular session
Chair: Karydis, KonstantinosUniversity of California, Riverside
Co-Chair: Tanner, Herbert G.University of Delaware
 
14:00-14:15, Paper TuCT22.1 
PC-NBV: A Point Cloud Based Deep Network for Efficient Next Best View Planning
 Video Attachment

Zeng, RuiTsinghua University
Zhao, WangTsinghua University
Liu, Yong-JinTsinghua University
 
14:15-14:30, Paper TuCT22.2 
Reactive Receding Horizon Planning and Control for Quadrotors with Limited On-Board Sensing
 Video Attachment

Yadav, IndrajeetUniversity of Delaware
Tanner, Herbert G.University of Delaware
 
14:30-14:45, Paper TuCT22.3 
Motion Planning for Collision-Resilient Mobile Robots in Obstacle-Cluttered Unknown Environments with Risk Reward Trade-Offs

Lu, ZhouyuUniversity of California, Riverside
Liu, ZhichaoUniversity of California, Riverside
Correa, GustavoUniversity of California Riverside
Karydis, KonstantinosUniversity of California, Riverside
 
14:45-15:00, Paper TuCT22.4 
Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback
 Video Attachment

Vasilopoulos, VasileiosUniversity of Pennsylvania
Pavlakos, GeorgiosUniversity of Pennsylvania
Bowman, SeanUniversity of Pennsylvania
Caporale, J. DiegoUniversity of Pennsylvania
Daniilidis, KostasUniversity of Pennsylvania
Pappas, George J.University of Pennsylvania
Koditschek, DanielUniversity of Pennsylvania
 
TuCT23 Room T23
Reactive and Sensor-Based Planning II Regular session
Chair: Srivastava, VaibhavMichigan State University
Co-Chair: Lauri, MikkoUniversity of Hamburg
 
14:00-14:15, Paper TuCT23.1 
Localization Uncertainty-Driven Adaptive Framework for Controlling Ground Vehicle Robots
 Video Attachment

Kent, DanielMichigan State University
McKinley, PhilipMichigan State University
Radha, HayderMichigan State University
 
14:15-14:30, Paper TuCT23.2 
Skill-Based Programming Framework for Composable Reactive Robot Behaviors
 Video Attachment

Pane, Yudha PrawiraKU Leuven
Aertbelien, ErwinKU Leuven
De Schutter, JorisKU Leuven
Decré, WilmKatholieke Universiteit Leuven
 
14:30-14:45, Paper TuCT23.3 
Expedited Multi-Target Search with Guaranteed Performance Via Multi-Fidelity Gaussian Processes
 Video Attachment

Wei, LaiMichigan State University
Xiaobo, TanMichigan State University
Srivastava, VaibhavMichigan State University
 
14:45-15:00, Paper TuCT23.4 
Multi-Sensor Next-Best-View Planning As Matroid-Constrained Submodular Maximization

Lauri, MikkoUniversity of Hamburg
Pajarinen, JoniTampere University
Peters, JanTechnische Universität Darmstadt
Frintrop, SimoneUniversity of Hamburg
 
TuKN1 Room T27
Keynote 5 Keynote session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
15:45-16:30, Paper TuKN1.1 
Robots Getting a Grip on General Manipulation

Correll, NikolausUniversity of Colorado at Boulder
 
TuKN2 Room T24
Keynote 6 Keynote session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
15:45-16:30, Paper TuKN2.1 
LiDAR for Autonomy Applications

Petrovskaya, AnnaStanford University
 
TuKN3 Room T24
Keynote 7 Keynote session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
15:45-16:30, Paper TuKN3.1 
Ashish Deshpande

Deshpande, AshishThe University of Texas
 
TuKN4 Room T24
Keynote 8 Keynote session
Chair: Oh, Paul Y.University of Nevada, Las Vegas (UNLV)
Co-Chair: O'Malley, MarciaRice University
 
15:45-16:30, Paper TuKN4.1 
Microsystems-Inspired Robotics

Bergbreiter, SarahCarnegie Mellon University
 
TuDT1 Room T1
Control and System Identification Regular session
Chair: Vela, PatricioGeorgia Institute of Technology
 
16:30-16:45, Paper TuDT1.1 
Adversarial Generation of Informative Trajectories for Dynamics System Identification
 Video Attachment

Jegorova, MarijaUniversity of Edinburgh
Smith, JoshuaUniversity of Edinburgh
Mistry, MichaelUniversity of Edinburgh
Hospedales, TimothyUniversity of Edinburgh
 
16:45-17:00, Paper TuDT1.2 
Q-VAE for Disentangled Representation Learning and Latent Dynamical Systems

Kobayashi, TaisukeNara Institute of Science and Technology
 
17:00-17:15, Paper TuDT1.3 
Target Tracking Control of a Wheel-Less Snake Robot Based on a Supervised Multi-Layered SNN
 Video Attachment

Jiang, ZhuangyiTechnical University of Munich
Otto, RichardTechnical University of Munich
Bing, ZhenshanTechnical University of Munich
Huang, KaiSun Yat-Sen University
Knoll, AloisTech. Univ. Muenchen TUM
 
17:15-17:30, Paper TuDT1.4 
CAZSL: Zero-Shot Regression for Pushing Models by Generalizing through Context

Zhang, WenyuCornell University
Seto, SkylerCornell University
Jha, DeveshMitsubishi Electric Research Laboratories
 
17:30-17:45, Paper TuDT1.5 
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach

Srinivasan, MohitGeorgia Institute of Technology
Dabholkar, AmoghBirla Institute of Technology and Science, Pilani
Coogan, SamuelGeorgia Tech
Vela, PatricioGeorgia Institute of Technology
 
TuDT2 Room T2
Compliance and Impedance Control Regular session
Chair: Yu, NingboNankai University
Co-Chair: Chrysostomou, DimitriosAalborg University
 
16:30-16:45, Paper TuDT2.1 
Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction

Zou, WulinHong Kong University of Science and Technology
Duan, PuXeno Dynamics Co., Ltd
Chen, YawenThe Hong Kong University of Science and Technology
Yu, NingboNankai University
Shi, LingThe Hong Kong University of Science and Technology
 
16:45-17:00, Paper TuDT2.2 
An Energy-Based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments
 Video Attachment

Hjorth, SebastianAalborg University
Lachner, JohannesUniversity of Twente
Stramigioli, StefanoUniversity of Twente
Madsen, OleAalborg University
Chrysostomou, DimitriosAalborg University
 
17:00-17:15, Paper TuDT2.3 
Passivity Filter for Variable Impedance Control
 Video Attachment

Bednarczyk, MaciejICube Laboratory, University of Strasbourg, Strasbourg
Omran, HassanICube Laboratory, University of Strasbourg, Strasbourg
Bayle, BernardUniversity of Strasbourg
 
17:15-17:30, Paper TuDT2.4 
Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping
 Video Attachment

de Paula Assis Fonseca, MarianaUniversidade Federal De Minas Gerais
Adorno, Bruno VilhenaFederal University of Minas Gerais (UFMG)
Fraisse, PhilippeLIRMM
 
17:30-17:45, Paper TuDT2.5 
Compliant Control and Compensation for a Compact Cable-Driven Robotic Manipulator
 Video Attachment

Li, JingThe University of Hong Kong
Lam, JamesUniversity of Hong Kong
Wang, ZhengThe University of Hong Kong
 
17:45-18:00, Paper TuDT2.6 
Learning Force Control for Contact-Rich Manipulation Tasks with Rigid Position-Controlled Robots
 Video Attachment

Beltran-Hernandez, Cristian CamiloOsaka University
Petit, DamienOsaka University
Ramirez-Alpizar, Ixchel GeorginaNational Institute of Advanced Industrial Science and Technology
Nishi, TakayukiFujifilm Corporation
Kikuchi, ShinichiFUJIFILM Corporation
Matsubara, TakamitsuNara Institute of Science and Technology
Harada, KensukeOsaka University
 
TuDT3 Room T3
Control Applications Regular session
Chair: Burdet, EtienneImperial College London
Co-Chair: Valdastri, PietroUniversity of Leeds
 
16:30-16:45, Paper TuDT3.1 
A Frequency-Dependent Impedance Controller for an Active-Macro/passive-Mini Robotic System

Badeau, NicolasUniversité Laval
Gosselin, ClementUniversité Laval
 
16:45-17:00, Paper TuDT3.2 
Compliance Control of Cable-Suspended Aerial Manipulator Using Hierarchical Control Framework
 Video Attachment

Gabellieri, ChiaraUniversity of Pisa
Sarkisov, YuriSkolkovo Institute of Science and Technology
Coelho, AndreGerman Aerospace Center (DLR)
Pallottino, LuciaUniversità Di Pisa
Kondak, KonstantinGerman Aerospace Center
Kim, Min JunDLR
 
17:00-17:15, Paper TuDT3.3 
Perceptive Model Predictive Control for Continuous Mobile Manipulation
 Video Attachment

Pankert, JohannesETH Zuerich
Hutter, MarcoETH Zurich
 
17:15-17:30, Paper TuDT3.4 
Dual-Arm Control for Enhanced Magnetic Manipulation
 Video Attachment

Pittiglio, GiovanniUniversity of Leeds
Chandler, James HenryUniversity of Leeds
Richter, MichielUniversity of Twente
Kalpathy Venkiteswaran, VenkatasubramanianUniversity of Twente
Misra, SarthakUniversity of Twente
Valdastri, PietroUniversity of Leeds
 
17:30-17:45, Paper TuDT3.5 
Improving Tracking through Human-Robot Sensory Augmentation

Li, YananUniversity of Sussex
Eden, JonathanImperial College London
Carboni, GerolamoImperial College London
Burdet, EtienneImperial College London
 
TuDT4 Room T4
Control Architectures and Software Regular session
Chair: Wrede, SebastianBielefeld University
Co-Chair: Inaba, MasayukiThe University of Tokyo
 
16:30-16:45, Paper TuDT4.1 
Formalization of Robot Skills with Descriptive and Operational Models

Lesire, CharlesONERA
Doose, DavidOnera - the French Aerospace Lab
Grand, ChristopheONERA
 
16:45-17:00, Paper TuDT4.2 
STORM: Screw Theory Toolbox for Robot Manipulator and Mechanisms
 Video Attachment

Sagar, KeerthiUniversity of Genoa, Italy
Ramadoss, VishalPMAR Robotics, University of Genova
Zlatanov, DimiterUniversity of Genoa
Zoppi, MatteoUniversity of Genoa, Italy
 
17:00-17:15, Paper TuDT4.3 
Model-Based Specification of Control Architectures for Compliant Interaction with the Environment
 Video Attachment

Wigand, DennisBielefeld University
Dehio, NielsKarlsruhe Institute of Technology
Wrede, SebastianBielefeld University
 
17:15-17:30, Paper TuDT4.4 
Verification of System-Wide Safety Properties of ROS Applications

Carvalho, BrunoUniversidade Do Minho
Cunha, AlcinoUniversidade Do Minho
Macedo, NunoINESC TEC & University of Minho
Santos, AndréUniversity of Minho
 
17:30-17:45, Paper TuDT4.5 
Basic Implementation of FPGA-GPU Dual SoC Hybrid Architecture for Low-Latency Multi-DOF Robot Motion Control

Nagamatsu, YuyaThe University of Tokyo
Sugai, FumihitoThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
17:45-18:00, Paper TuDT4.6 
XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective (I)

Muratore, LucaIstituto Italiano Di Tecnologia
Laurenzi, ArturoIstituto Italiano Di Tecnologia
Mingo Hoffman, EnricoFondazione Istituto Italiano Di Tecnologia
Tsagarakis, NikosIstituto Italiano Di Tecnologia
 
TuDT5 Room T5
Dynamics Regular session
Chair: Bajcinca, NaimTU Kaiserslautern
Co-Chair: Zhao, HuijingPeking University
 
16:30-16:45, Paper TuDT5.1 
Identification of Dynamic Parameters for Rigid Robots Based on Polynomial Approximation

Lomakin, AlexanderUniversität Erlangen-Nürnberg
Deutscher, JoachimUniversität Erlangen-Nürnberg
 
16:45-17:00, Paper TuDT5.2 
Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments
 Video Attachment

Cui, LeileiNew York University
Wang, ShuaiTencent
Lai, JieTencent
Chen, XiangyuTENCENT
Yang, SichengTencent
Zhang, ZhengyouTencent
Jiang, Zhong-PingNew York University
 
17:00-17:15, Paper TuDT5.3 
Modeling Cable-Driven Joint Dynamics and Friction: A Bond-Graph Approach
 Video Attachment

Ludovico, DanieleIstituto Italiano Di Tecnologia
Guardiani, PaoloIstituto Italiano Di Tecnologia
Pistone, AlessandroIstituto Italiano Di Tecnologia
Lee, JinohFondazione Istituto Italiano Di Tecnologia (IIT)
Cannella, FerdinandoIstituto Italiano Di Tecnologia
Caldwell, Darwin G.Istituto Italiano Di Tecnologia
Canali, CarloIstituto Italiano Di Tecnologia, Via Morego, 30, 16163 Genova
 
17:15-17:30, Paper TuDT5.4 
Cross Scene Prediction Via Modeling Dynamic Correlation Using Latent Space Shared Auto-Encoders

Hu, ShaochiPeking University
Xu, DonghaoPeking University
Zhao, HuijingPeking University
 
17:30-17:45, Paper TuDT5.5 
Dynamic Parameter Estimation Utilizing Optimized Trajectories

Tika, ArgtimTechnische Universität Kaiserslautern
Ulmen, JonasTU Kaiserslautern
Bajcinca, NaimTU Kaiserslautern
 
17:45-18:00, Paper TuDT5.6 
Modeling and Experimental Verification of a Cable-Constrained Synchronous Rotating Mechanism Considering Friction Effect

Li, YananHarbin Institute of Technology
Liu, YuHarbin Institute of Technology
Meng, DeshanGraduate School at Shenzhen, Tsinghua University
Wang, XueqianCenter for Artificial Intelligence and Robotics, Graduate School
Liang, BinCenter for Artificial Intelligence and Robotics, Graduate School
 
17:45-18:00, Paper TuDT5.7 
Model-Based Coupling for Co-Simulation of Robotic Contact Tasks

Peiret, AlbertMcGill University
Gonzalez, FranciscoUniversity of a Coruna
Kovecses, JozsefMcGill University
Teichmann, MarekCMLabs Simulations Inc
Enzenhoefer, AndreasCM Labs Simulations Inc
 
TuDT6 Room T6
Estimation and Identification Regular session
Chair: Leonessa, AlexanderVirginia Tech
Co-Chair: Huang, XiaoweiUniversity of Liverpool
 
16:30-16:45, Paper TuDT6.1 
Assessment of Soil Strength Using a Robotically Deployed and Retrieved Penetrometer
 Video Attachment

Montano, VictorUniversity of Houston
Shah, AmiUniversity of Houston
Akinwande, SamuelUniversity of Houston
Jafari, NavidLouisiana State University
Becker, AaronUniversity of Houston
 
16:45-17:00, Paper TuDT6.2 
Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation

Budolak, DanielVirginia Tech
Leonessa, AlexanderVirginia Tech
 
17:00-17:15, Paper TuDT6.3 
Practical Verification of Neural Network Enabled State Estimation System for Robotics

Huang, WeiUniversity of Liverpool
Zhou, YifanUniversity of Liverpool
Sun, YouchengQueen's University Belfast
Sharp, JamesDstl
Maskell, SimonUniversity of Liverpool
Huang, XiaoweiUniversity of Liverpool
 
17:15-17:30, Paper TuDT6.4 
Markov Decision Processes with Unknown State Feature Values for Safe Exploration Using Gaussian Processes
 Video Attachment

Budd, MatthewUniversity of Oxford
Lacerda, BrunoUniversity of Oxford
Duckworth, PaulUniversity of Oxford
West, AndrewThe University of Manchester
Lennox, BarryThe University of Manchester
Hawes, NickUniversity of Oxford
 
TuDT7 Room T7
Force and Torque Sensing Regular session
Chair: Johnson, AaronCarnegie Mellon University
Co-Chair: Choi, Hyouk RyeolSungkyunkwan University
 
16:30-16:45, Paper TuDT7.1 
Contact Localization Using Velocity Constraints
 Video Attachment

Wang, Sean J.Carnegie Mellon University
Bhatia, AnkitCarnegie Mellon University
Mason, Matthew T.Carnegie Mellon University
Johnson, AaronCarnegie Mellon University
 
16:45-17:00, Paper TuDT7.2 
Ultra-Thin Joint Torque Sensor with Enhanced Sensitivity for Robotic Application

Seok, Dong-YeopSungkyunkwan University
Kim, Yong BumSungskyunkwan University
Lee, Seung YeonSungkyunkwan University
Kim, Jae YunSUNGKYUNKWAN, Mechanical Engineering, Robottory
Choi, Hyouk RyeolSungkyunkwan University
 
17:00-17:15, Paper TuDT7.3 
Six-Axis Force/Torque Fingertip Sensor for an Anthropomorphic Robot

Kim, UikyumKorea Institute of Machinery & Materials (KIMM)
Jeong, HeeyeonKorea Institure of Machinery & Materials
Do, Hyun MinKorea Institute of Machinery and Materials
Park, JongwooKorea Institue of Machinery & Materials
Park, ChanhunKIMM
 
17:15-17:30, Paper TuDT7.4 
A Flexible Dual-Core Optical Waveguide Sensor for Simultaneous and Continuous Measurement of Contact Force and Position
 Video Attachment

Zhang, ZhongCity University of Hong Kong
Li, XiongTencent
Pan, JiaUniversity of Hong Kong
Li, KaiweiInstitute of Photonics Technology, Jinan University
Zheng, YuTencent
Zhang, ZhengyouTencent
 
17:30-17:45, Paper TuDT7.5 
Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation
 Video Attachment

Epstein, LindsayMassachusetts Institute of Technology
SaLoutos, AndrewMIT
Kim, DonghyunMassachusetts Institute of Technology
Kim, SangbaeMassachusetts Institute of Technology
 
17:45-18:00, Paper TuDT7.6 
6-Axis Force/Torque Sensor with a Novel Autonomous Weight Compensating Capability for Robotic Applications
 Video Attachment

Kim, Yong BumSungskyunkwan University
Seok, Dong-YeopSungkyunkwan University
Lee, Seung YeonSungkyunkwan University
Kim, Jae YunSUNGKYUNKWAN, Mechanical Engineering, Robottory
Kang, GitaeSungkyunkwan University
Kim, UikyumKorea Institute of Machinery & Materials (KIMM)
Choi, Hyouk RyeolSungkyunkwan University
 
TuDT8 Room T8
Force Control Regular session
Chair: Wen, JohnRensselaer Polytechnic Institute
Co-Chair: Riener, RobertETH Zurich
 
16:30-16:45, Paper TuDT8.1 
Model Predictive Position and Force Trajectory Tracking Control for Robot-Environment Interaction
 Video Attachment

Gold, TobiasFriedrich-Alexander-Universität Erlangen-Nürnberg
Völz, AndreasFriedrich-Alexander-Universität Erlangen-Nürnberg
Graichen, KnutFriedrich Alexander University Erlangen-Nürnberg
 
16:45-17:00, Paper TuDT8.2 
Learning-Based Optimization Algorithms Combining Force Control Strategies for Peg-In-Hole Assembly
 Video Attachment

Zou, PengZhejiang University
Zhu, QiuguoZhejiang University
Wu, JunZhejiang University
Xiong, RongZhejiang University
 
17:00-17:15, Paper TuDT8.3 
A Variable Impedance Control Strategy for Object Manipulation Considering Non-Rigid Grasp
 Video Attachment

Logothetis, MichalisNational Technical University of Athens, School of Mechanical En
Karras, GeorgeNational Technical University of Athens
Alevizos, KonstantinosNational Technical University of Athens
Kyriakopoulos, KostasNational Technical Univ. of Athens
 
17:15-17:30, Paper TuDT8.4 
Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton
 Video Attachment

Zimmermann, Yves DominicETH Zurich
Farshidian, FarbodETH Zurich
Küçüktabak, Emek BarışNorthwestern University, Shirley Ryan Ability Lab
Hutter, MarcoETH Zurich
Riener, RobertETH Zurich
 
17:30-17:45, Paper TuDT8.5 
Robotic Deep Rolling with Iterative Learning Motion and Force Control

Chen, ShuyangRensselaer Polytechnic Institute
Wang, ZhigangRaytheon Technologies Research Center
Chakraborty, AbhijitUnited Technologies Research Center
Klecka, MichaelRaytheon Technologies Research Center
Saunders, GlennRensselaer Polytechnic Institute
Wen, JohnRensselaer Polytechnic Institute
 
17:45-18:00, Paper TuDT8.6 
Torque-Bounded Admittance Control Realized by a Set-Valued Algebraic Feedback (I)

Kikuuwe, RyoHiroshima University
 
TuDT9 Room T9
Whole-Body Motion Planning and Control I Regular session
Chair: Ott, ChristianGerman Aerospace Center (DLR)
 
16:30-16:45, Paper TuDT9.1 
Redundancy Resolution under Hard Joint Constraints: A Generalized Approach to Rank Updates
 Video Attachment

Ziese, AntonTechnische Universität Darmstadt
Fiore, Mario DanieleKUKA Deutschland GmbH
Peters, JanTechnische Universität Darmstadt
Zimmermann, Uwe E.KUKA Deutschland GmbH
Adamy, JürgenTechnische Universität Darmstadt
 
16:45-17:00, Paper TuDT9.2 
Task Priority Matrix at the Acceleration Level: Collision Avoidance under Relaxed Constraints
 Video Attachment

Khatib, MaramSapienza University of Rome
Al Khudir, KhaledSapienza University of Rome
De Luca, AlessandroSapienza University of Rome
 
17:00-17:15, Paper TuDT9.3 
Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds

Garofalo, GianlucaGerman Aerospace Center (DLR)
Ott, ChristianGerman Aerospace Center (DLR)
 
17:15-17:30, Paper TuDT9.4 
Feedback Whole-Body Control of Wheeled Inverted Pendulum Humanoids Using Operational Space
 Video Attachment

Murtaza, Muhammad AliGeorgia Institute of Technology
Azimi, VahidGeorgia Institute of Technology
Hutchinson, SethGeorgia Institute of Technology
 
17:30-17:45, Paper TuDT9.5 
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
 Video Attachment

Ferrolho, HenriqueThe University of Edinburgh
Merkt, Wolfgang XaverUniversity of Oxford
Ivan, VladimirUniversity of Edinburgh
Wolfslag, WouterUniversity of Edinburgh
Vijayakumar, SethuUniversity of Edinburgh
 
17:45-18:00, Paper TuDT9.6 
Learning an Optimal Sampling Distribution for Efficient Motion Planning
 Video Attachment

Cheng, RichardCalifornia Institute of Technology
Shankar, KrishnaToyota Research Institute
Burdick, JoelCalifornia Institute of Technology
 
TuDT10 Room T10
Whole-Body Motion Planning and Control II Regular session
Chair: Hsieh, M. AniUniversity of Pennsylvania
Co-Chair: Haghshenas-Jaryani, MahdiNew Mexico State University
 
16:30-16:45, Paper TuDT10.1 
A Topological Approach to Path Planning for a Magnetic Millirobot
 Video Attachment

Mansfield, AriellaUniversity of Pennsylvania
Kularatne, DhanushkaDrexel University
Steager, EdwardUniversity of Pennsylvania
Hsieh, M. AniUniversity of Pennsylvania
 
16:45-17:00, Paper TuDT10.2 
Optimizing Coordinate Choice for Locomotion Systems with Toroidal Shape Spaces

Lin, BoGeorgia Institute of Technology
Zhong, BaxiGeorgia Institute of Technology
Ozkan-Aydin, YaseminGeorgia Institute of Technology
Aydin, EnesGeorgia Institute of Technology
Choset, HowieCarnegie Mellon University
Goldman, DanielGeorgia Institute of Technology
Blekherman, GrigoriyGeorgia Institute of Technology
 
17:00-17:15, Paper TuDT10.3 
Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control

Haghshenas-Jaryani, MahdiNew Mexico State University
Sevil, Hakki ErhanUniversity of West Florida
 
17:15-17:30, Paper TuDT10.4 
Dynamic Legged Manipulation of a Ball through Multi-Contact Optimization

Yang, ChenyuShanghai Jiao Tong University(SJTU)
Zhang, BikeUniversity of California, Berkeley
Zeng, JunUniversity of California, Berkeley
Agrawal, AyushUniversity of California at Berkeley
Sreenath, KoushilUniversity of California, Berkeley
 
17:30-17:45, Paper TuDT10.5 
Explore Bravely: Wheeled-Legged Robots Traversing in Unknown Rough Environment
 Video Attachment

Haddeler, GarenNational University of Singapore, Agency for Science, Technolo
Chan, JianleInstitute for Infocomm Research
You, YangweiInstitute for Infocomm Research
Verma, SaurabInstitute of Infocomm Research, Agency for Science, Technology A
Adiwahono, Albertus HendrawanI2R A-STAR
Chew, Chee MengNational University of Singapore
 
TuDT11 Room T11
Visual Servoing Regular session
Chair: Jing, WeiA*STAR
 
16:30-16:45, Paper TuDT11.1 
KOVIS: Keypoint-Based Visual Servoing with Zero-Shot Sim-To-Real Transfer for Robotics Manipulation
 Video Attachment

Puang, En YenAgency for Science, Technology and Research (A*STAR)
Tee, Keng PengInstitute for Infocomm Research
Jing, WeiA*STAR
 
16:45-17:00, Paper TuDT11.2 
FlowControl: Optical Flow Based Visual Servoing
 Video Attachment

Argus, MaximilianUniversity of Freiburg
Hermann, LukasUniversity of Freiburg
Long, JonathanSymbio Robotics, Inc
Brox, ThomasUniversity of Freiburg
 
17:00-17:15, Paper TuDT11.3 
Monocular Visual Shape Tracking and Servoing for Isometrically Deforming Objects
 Video Attachment

Aranda, MiguelSIGMA Clermont, Institut Pascal
Corrales Ramon, Juan AntonioSigma-Clermont Engineering School
Mezouar, YoucefSIGMA-Clermont
Bartoli, AdrienUCA
Ozgur, ErolSIGMA-Clermont / Institut Pascal
 
17:15-17:30, Paper TuDT11.4 
Integrating Features Acceleration in Visual Predictive Control
 Video Attachment

Fusco, FrancoLS2N Centrale Nantes
Kermorgant, OlivierÉcole Centrale Nantes
Martinet, PhilippeINRIA
 
17:30-17:45, Paper TuDT11.5 
Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing
 Video Attachment

Lagneau, RomainINSA Rennes
Krupa, AlexandreINRIA Rennes - Bretagne Atlantique
Marchal, MaudINSA/INRIA
 
17:45-18:00, Paper TuDT11.6 
Fast Model Predictive Image-Based Visual Servoing for Quadrotors
 Video Attachment

Roque, PedroKTH Royal Institute of Technology, Stockholm, Sweden
Bin, ElisaKTH Royal Institute of Technology
Miraldo, PedroInstituto Superior Técnico, Lisboa
Dimarogonas, Dimos V.KTH Royal Institute of Technology
 
TuDT12 Room T12
Motion Control Regular session
Chair: Zhang, MingmingSouthern University of Science and Technology
Co-Chair: Berman, SpringArizona State University
 
16:30-16:45, Paper TuDT12.1 
Robust Internal Model Control for Motor Systems Based on Sliding Mode Technique and Extended State Observer

Li, PingSouthern University of Science and Technology
Guo, KaiqiSouthern University of Science and Technology
Sun, ChenyangSouthern University of Science and Technology
Zhang, MingmingSouthern University of Science and Technology
 
16:45-17:00, Paper TuDT12.2 
Trajectory Tracking of a One-Link Flexible Arm Via Iterative Learning Control
 Video Attachment

Pierallini, MicheleCentro Di Ricerca E. Piaggio - Università Di Pisa
Angelini, FrancoUniversity of Pisa
Mengacci, RiccardoUniversità Di Pisa
Palleschi, AlessandroUniversity of Pisa
Bicchi, AntonioUniversità Di Pisa
Garabini, ManoloUniversità Di Pisa
 
17:00-17:15, Paper TuDT12.3 
H-Infinity-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics

Salimi Lafmejani, AmirArizona State University
Farivarnejad, HamedArizona State University
Berman, SpringArizona State University
 
17:15-17:30, Paper TuDT12.4 
Gain Scheduled Controller Design for Balancing an Autonomous Bicycle
 Video Attachment

Wang, ShuaiTencent
Cui, LeileiNew York University
Lai, JieTencent
Yang, SichengTencent
Chen, XiangyuTENCENT
Zheng, YuTencent
Zhang, ZhengyouTencent
Jiang, Zhong-PingNew York University
 
17:30-17:45, Paper TuDT12.5 
Online System for Dynamic Multi-Contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control
 Video Attachment

Fukazawa, KazukiThe University of Tokyo
Hiraoka, NaokiThe University of Tokyo
Kojima, KunioThe University of Tokyo
Noda, ShintaroThe University of Tokyo
Bando, MasahiroThe University of Tokyo
Okada, KeiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
17:45-18:00, Paper TuDT12.6 
Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration

Xing, HongjunHarbin Institute of Technology
Torabi, AliUniversity of Alberta
Ding, LiangHarbin Institute of Technology
Gao, HaiboHarbin Institute of Technology
Deng, ZongquanHarbin Institute of Technology
Tavakoli, MahdiUniversity of Alberta
 
TuDT13 Room T13
Optimization and Optimal Control I Regular session
Chair: Hong, DennisUCLA
 
16:30-16:45, Paper TuDT13.1 
Learning-Based Controller Optimization for Repetitive Robotic Tasks

Li, XiaocongA*STAR
Zhu, HaiyueSingapore Institute of Manufacturing Technology
Ma, JunNational University of Singapore
Teo, Tat JooSingapore Institute of Manufacturing Technology
Teo, Chek SingSIMTech
Tomizuka, MasayoshiUniversity of California
Lee, Tong HengNational University of Singapore
 
16:45-17:00, Paper TuDT13.2 
Unilateral Constraints for Torque-Based Whole-Body Control
 Video Attachment

Muñoz Osorio, Juan DavidLeibniz University, KUKA Germany GmbH
Abdelazim, AbdelrahmanKUKA Germany GmbH
Allmendinger, FelixKUKA Deutschland GmbH
Zimmermann, Uwe E.KUKA Deutschland GmbH
 
17:00-17:15, Paper TuDT13.3 
Learning High-Level Policies for Model Predictive Control

Song, YunlongUniversity of Zurich
Scaramuzza, DavideUniversity of Zurich
 
17:15-17:30, Paper TuDT13.4 
Squash-Box Feasibility Driven Differential Dynamic Programming
 Video Attachment

Marti-Saumell, JosepInstitut De Robòtica I Informàtica Industrial, CSIC-UPC
Solà, JoanInstitut De Robòtica I Informàtica Industrial
Mastalli, CarlosUniversity of Edinburgh
Santamaria-Navarro, AngelNASA Jet Propulsion Laboratory, Caltech
 
17:45-18:00, Paper TuDT13.6 
Optimal Linearization Via Quadratic Programming

Shen, JunjieUCLA
Hong, DennisUCLA
 
TuDT14 Room T14
Optimization and Optimal Control II Regular session
Chair: Hovakimyan, NairaUniversity of Illinois at Urbana-Champaign
Co-Chair: Bajcinca, NaimTU Kaiserslautern
 
16:30-16:45, Paper TuDT14.1 
Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics
 Video Attachment

Cursi, FrancescoImperial College London
Modugno, ValerioSapienza University of Rome
Kormushev, PetarImperial College London
 
16:45-17:00, Paper TuDT14.2 
L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
 Video Attachment

Pravitra, JintasitGeorgia Institute of Technology
Ackerman, KaseyUniversity of Illinois at Urbana-Champaign
Cao, ChengyuUniversity of Connecticut
Hovakimyan, NairaUniversity of Illinois at Urbana-Champaign
Theodorou, EvangelosGeorgia Institute of Technology
 
17:00-17:15, Paper TuDT14.3 
Learning-Based Distributionally Robust Motion Control with Gaussian Processes
 Video Attachment

Hakobyan, AstghikSeoul National University
Yang, InsoonSeoul National University
 
17:15-17:30, Paper TuDT14.4 
Synchronous Minimum-Time Cooperative Manipulation Using Distributed Model Predictive Control
 Video Attachment

Tika, ArgtimTechnische Universität Kaiserslautern
Bajcinca, NaimTU Kaiserslautern
 
17:30-17:45, Paper TuDT14.5 
Finite-Horizon LQR Control of Quadrotors on SE_2(3)
 Video Attachment

Cohen, MitchellMcGill University
Abdulrahim, KhairiUniversiti Sains Islam Malaysia
Forbes, James RichardMcGill University
 
17:45-18:00, Paper TuDT14.6 
Safe Optimal Control under Parametric Uncertainties
 Video Attachment

Makkapati, Venkata RamanaGeorgia Institute of Technology
Sarabu, HemanthGeorgia Tech
Comandur, VinodhiniGeorgia Institute of Technology
Tsiotras, PanagiotisGeorgia Tech
Hutchinson, SethGeorgia Institute of Technology
 
TuDT15 Room T15
Robust/Adaptive Control of Robotic Systems I Regular session
Chair: Hereid, AyongaOhio State University
Co-Chair: Roy, SpandanInternational Institute of Information Technology, Hyderabad (IIIT-H)
 
16:30-16:45, Paper TuDT15.1 
Online Gain Setting Method for Path Tracking Using CMA-ES: Application to Off-Road Mobile Robot Control

Hill, Ashley William DavidCEA
Laneurit, JeanIrstea
Lenain, RolandIrstea
Lucet, EricCEA Tech
 
16:45-17:00, Paper TuDT15.2 
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics through Adaptive Neural Network Controller
 Video Attachment

Castillo, GuillermoThe Ohio State University
Weng, BowenThe Ohio State University
Stewart, Terrence CUniversity of Waterloo
Zhang, WeiSouthern University of Science and Technology
Hereid, AyongaOhio State University
 
17:00-17:15, Paper TuDT15.3 
Aerial Transportation of Unknown Payloads: Adaptive Path Tracking for Quadrotors

Sankaranarayanan, Viswa NarayananInternational Institute of Information Technology, Hyderabad (II
Roy, SpandanInternational Institute of Information Technology, Hyderabad (II
Baldi, SimoneTU Delft
 
17:15-17:30, Paper TuDT15.4 
Robust Force Tracking Impedance Control of an Ultrasonic Motor-Actuated End-Effector in a Soft Environment
 Video Attachment

Liang, WenyuInstitute for Infocomm Research, A*STAR
Feng, ZhaoWuhan University
Wu, YanA*STAR Institute for Infocomm Research
Gao, JunliGuangdong University of Technology
Ren, QinyuanZhejiang University
Lee, Tong HengNational University of Singapore
 
TuDT16 Room T16
Robust/Adaptive Control of Robotic Systems II Regular session
Chair: Matni, NikolaiUniversity of Pennsylvania
Co-Chair: Clement, BenoitENSTA-Bretagne
 
16:30-16:45, Paper TuDT16.1 
A Horse Inspired Eight-Wheel Unmanned Ground Vehicle with Four-Swing Arms
 Video Attachment

He, MiaoleiCentral South University
Jilin, HeCentral South University
Changji, RenCentral South University
Qinghua, HeCentral South University
Kang, WuSunward Intelligent Equipment Co. Ltd
 
16:45-17:00, Paper TuDT16.2 
Non-Linear Control under State Constraints with Validated Trajectories for a Mobile Robot Towing a Trailer
 Video Attachment

Tillet, JorisENSTA Bretagne
Jaulin, LucENSTA-Bretagne
Le Bars, FabriceENSTA Bretagne
 
17:00-17:15, Paper TuDT16.3 
Robust, Perception Based Control with Quadrotors
 Video Attachment

Jarin-Lipschitz, LauraUPenn
Li, RebeccaUniversity of Pennsylvania
Nguyen, TyUniversity of Pennsylvania
Kumar, VijayUniversity of Pennsylvania
Matni, NikolaiUniversity of Pennsylvania
 
17:15-17:30, Paper TuDT16.4 
Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-Of-Squares Optimization
 Video Attachment

Farzan, SiavashGeorgia Institute of Technology
Hu, Ai-PingGeorgia Tech Research Institute
Bick, MichaelGeorgia Institute of Technology
Rogers, JonathanGeorgia Institute of Technology
 
TuDT17 Room T17
Bio-Inspired Control Regular session
Chair: Cheng, BoPennsylvania State University
Co-Chair: Ma, ShugenRitsumeikan University
 
16:30-16:45, Paper TuDT17.1 
A Bayesian-Based Controller for Snake Robot Locomotion in Unstructured Environments

Jia, YuanyuanRitsumeikan University
Ma, ShugenRitsumeikan University
 
16:45-17:00, Paper TuDT17.2 
Learning to Locomote with Artificial Neural-Network and CPG-Based Control in a Soft Snake Robot
 Video Attachment

Liu, XuanWorcester Polytechnic Institute
Gasoto, RenatoWorcester Polytechnic Institute, NVIDIA
Jiang, ZiyiXidian University
Fu, JieWorcester Polytechnic Institute
Onal, CagdasWPI
 
17:00-17:15, Paper TuDT17.3 
The Omega Turn: A Biologically-Inspired Turning Strategy for Elongated Limbless Robots
 Video Attachment

Wang, TianyuCarnegie Mellon University
Zhong, BaxiGeorgia Institute of Technology
Diaz, KelimarGeorgia Institute of Technology
Whitman, JulianCarnegie Mellon University
Lu, HangGeorgia Institute of Technology
Travers, MatthewCarnegie Mellon University
Goldman, DanielGeorgia Institute of Technology
Choset, HowieCarnegie Mellon University
 
17:15-17:30, Paper TuDT17.4 
Bio-Inspired Inverted Landing Strategy in a Small Aerial Robot Using Policy Gradient

Liu, PanPennsylvania State University
Geng, JunyiThe Pennsylvania State University
Li, YixianPenn State University
Cao, YanranPenn State University
Bayiz, Yagiz EfePennsylvania State University
Langelaan, Jack W.Penn State University
Cheng, BoPennsylvania State University
 
17:30-17:45, Paper TuDT17.5 
A Bio-Inspired Framework for Joint Angle Estimation from Non-Collocated Sensors in Tendon-Driven Systems
 Video Attachment

Hagen, DanielUniversity of Southern California
Marjaninejad, AliUniversity of Southern California
Valero-Cuevas, Francisco, JUniversity of Southern California
 
17:45-18:00, Paper TuDT17.6 
Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain
 Video Attachment

Toshimitsu, YasunoriUniversity of Tokyo
Kawaharazuka, KentoThe University of Tokyo
Tsuzuki, KeiUniversity of Tokyo
Onitsuka, MoritakaThe University of Tokyo
Nishiura, ManabuUniversity of Tokyo
Koga, YuyaThe University of Tokyo
Omura, YusukeThe University of Tokyo
Tomita, MotokiUniversity of Tokyo
Asano, YukiThe University of Tokyo
Okada, KeiThe University of Tokyo
Kawasaki, KojiThe University of Tokyo
Inaba, MasayukiThe University of Tokyo
 
TuDT18 Room T18
Biologically-Inspired Robots I Regular session
Chair: Jung, Gwang-PilSeoulTech
Co-Chair: Ramezani, AlirezaNortheastern University
 
16:30-16:45, Paper TuDT18.1 
Development and Analysis of Digging and Soil Removing Mechanisms for Mole-Bot: Bio-Inspired Mole-Like Drilling Robot

Lee, JunseokKorea Advanced Institute of Science and Technology (KAIST)
Tirtawardhana, ChristianKorea Advanced Institute of Science and Technology (KAIST)
Myung, HyunKAIST (Korea Adv. Inst. Sci. & Tech.)
 
16:45-17:00, Paper TuDT18.2 
Snatcher: A Highly Mobile Chameleon-Inspired Shooting and Rapidly Retracting Manipulator
 Video Attachment

Lee, Dong-JunSeoulTech
Jung, Gwang-PilSeoulTech
 
17:00-17:15, Paper TuDT18.3 
Computational Structure Design of a Bio-Inspired Armwing Mechanism
 Video Attachment

Sihite, EricNortheastern University
Kelly, PeterNortheastern University
Ramezani, AlirezaNortheastern University
 
17:15-17:30, Paper TuDT18.4 
Optimization-Based Investigation of Bioinspired Variable Gearing of the Distributed Actuation Mechanism to Maximize Velocity and Force

Kim, Jong HoKorea Advanced Institute of Science and Technology
Jang, In GwunKorea Advanced Institute of Science and Technology
 
17:30-17:45, Paper TuDT18.5 
Stable Flight of a Flapping-Wing Micro Air Vehicle under Wind Disturbance
 Video Attachment

Lee, JongguSeoul National University
Ryu, SeungwanSeoul National University
Kim, H. JinSeoul National University
 
17:45-18:00, Paper TuDT18.6 
A Bio-Inspired Quadruped Robot Exploiting Flexible Shoulder for Stable and Efficient Walking
 Video Attachment

Fukuhara, AkiraTohoku University
Gunji, MeguNational Museum of Nature and Science, Tokyo
Masuda, YoichiOsaka University
Tadakuma, KenjiroTohoku University
Ishiguro, AkioTohoku University
 
TuDT19 Room T19
Biologically-Inspired Robots II Regular session
Chair: Valdivia y Alvarado, PabloSingapore University of Technology and Design, MIT
Co-Chair: Tadakuma, KenjiroTohoku University
 
16:30-16:45, Paper TuDT19.1 
An Earthworm-Like Soft Robot with Integration of Single Pneumatic Actuator and Cellular Structures for Peristaltic Motion
 Video Attachment

Liu, MingcanNational University of Singapore
Xu, ZhaoyiUniversity of Toronto
Ong, Jing JieNational University of Singapore
Zhu, JianNational University of Singapore
Lu, WenfengNational University of Singapore
 
16:45-17:00, Paper TuDT19.2 
Pneumatic Duplex-Chambered Inchworm Mechanism for Narrow Pipes Driven by Only Two Air Supply Lines
 Video Attachment

Yamamoto, TomonariNational Institute of Advanced Industrial Science and Technology
Sakama, SayakoThe National Institute of Advanced Industrial Science and Techno
Kamimura, AkiyaNational Institute of Advanced Industrial Science and Technology
 
17:00-17:15, Paper TuDT19.3 
Development of a Maneuverable Un-Tethered Multi-Fin Soft Robot
 Video Attachment

Van Tien, TruongSingapore University of Technology and Design
Mysa, Ravi ChaithanyaSingapore University of Technology and Design
Stalin, ThileepanSingapore University of Technology and Design
Plamootil Mathai, Aby RajSingapore University of Technology and Design
Valdivia y Alvarado, PabloSingapore University of Technology and Design, MIT
 
17:15-17:30, Paper TuDT19.4 
Emergence of Swing-To-Stance Transition from Interlocking Mechanism in Horse Hindlimb
 Video Attachment

Miyashita, KazuhiroOsaka University
Masuda, YoichiOsaka University
Gunji, MeguNational Museum of Nature and Science, Tokyo
Fukuhara, AkiraTohoku University
Tadakuma, KenjiroTohoku University
Ishikawa, MasatoOsaka University
 
17:30-17:45, Paper TuDT19.5 
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
 
TuDT20 Room T20
Insect-Inspired Robotics Regular session
Chair: Gravish, NickUC San Diego
Co-Chair: Perez-Arancibia, Nestor OUniversity of Southern California (USC)
 
16:30-16:45, Paper TuDT20.1 
Soft Microrobotic Transmissions Enable Rapid Ground-Based Locomotion

Zhou, WeiUniversity of California San Diego
Gravish, NickUC San Diego
 
16:45-17:00, Paper TuDT20.2 
An Untethered 216-Mg Insect-Sized Jumping Robot with Wireless Power Transmission
 Video Attachment

Kurniawan, RiccyUniversity of Washington, Seattle
Fukudome, TamakiInstitute of Industrial Science, the University of Tokyo
Qiu, HaoInstitute of Industrial Science, the University of Tokyo
Takamiya, MakotoInstitute of Industrial Science, the University of Tokyo
Kawahara, YoshihiroThe University of Tokyo
Yang, JinkyuUniversity of Washington, Seattle
Niiyama, RyumaUniversity of Tokyo
 
17:00-17:15, Paper TuDT20.3 
Towards the Long-Endurance Flight of an Insect-Inspired, Tailless, Two-Winged, Flapping-Wing Flying Robot

Phan, Hoang VuKonkuk University
Aurecianus, StevenKonkuk University
Au, Thi Kim LoanKonkuk University
Kang, TaesamKonkuk Univeristy
Park, Hoon CheolKonkuk University
 
17:15-17:30, Paper TuDT20.4 
SMALLBug: A 30-Mg Crawling Robot Driven by a High-Frequency Flexible SMA Microactuator
 Video Attachment

Calderon, Ariel, AUniversity of Southern California
Nguyen, Xuan-TrucUniversity of Southern California
Rigo, AlbertoUSC
Ge, Joey ZaoyuanUniversity of Southern California
Perez-Arancibia, Nestor OUniversity of Southern California (USC)
 
17:30-17:45, Paper TuDT20.5 
Inverted and Inclined Climbing Using Capillary Adhesion in a Quadrupedal Insect-Scale Robot
 Video Attachment

Chen, YuFengMassachusetts Institute of Technology
Doshi, NeelMIT
Wood, RobertHarvard University
 
17:45-18:00, Paper TuDT20.6 
Coordinated Appendages Accumulate More Energy to Self-Right on the Ground

Xuan, QihanJohns Hopkins University
Li, ChenJohns Hopkins University
 
TuDT21 Room T21
Autonomous Agents Regular session
Chair: Miao, JinghaoBaidu
Co-Chair: Tran-Thanh, LongUniversity of Warwick
 
16:30-16:45, Paper TuDT21.1 
Cooperative Simultaneous Tracking and Jamming for Disabling a Rogue Drone

Papaioannou, SavvasKIOS CoE, University of Cyprus
Kolios, PanayiotisKios Research and Innovation Center of Excellence, University Of
Panayiotou, ChristosUniversity of Cyprus
Polycarpou, MariosKIOS Center of Excellence, University of Cyprus
 
16:45-17:00, Paper TuDT21.2 
SpCoMapGAN: Spatial Concept Formation-Based Semantic Mapping with Generative Adversarial Networks
 Video Attachment

Katsumata, YukiRitsumeikan University
Taniguchi, AkiraRitsumeikan University
El Hafi, LotfiRitsumeikan University
Hagiwara, YoshinobuRitsumeikan University
Taniguchi, TadahiroRitsumeikan University
 
17:00-17:15, Paper TuDT21.3 
To Ask or Not to Ask: A User Annoyance Aware Preference Elicitation Framework for Social Robots

Gucsi, BálintUniversity of Southampton
Tarapore, DaneshUniversity of Southampton
Yeoh, WilliamWashington University St Louis
Amato, ChristopherNortheastern University
Tran-Thanh, LongUniversity of Warwick
 
17:15-17:30, Paper TuDT21.4 
Visual Task Progress Estimation with Appearance Invariant Embeddings for Robot Control and Planning
 Video Attachment

Maeda, Guilherme JorgePreferred Networks
Vaatainen, JoniWaseda University
Yoshida, HironoriWww.hy-Ma.com
 
17:30-17:45, Paper TuDT21.5 
Lane-Attention: Predicting Vehicles' Moving Trajectories by Learning Their Attention Over Lanes

Pan, JiachengUCLA, Baidu
Sun, HongyiBaidu USA
Xu, KechengBaidu USA LLC
Jiang, YifeiBaidu USA LLC
Xiao, XiangquanBaidu USA LLC
Hu, JiangtaoBaidu USA
Miao, JinghaoBaidu
 
17:45-18:00, Paper TuDT21.6 
Pedestrian Intention Prediction for Autonomous Driving Using a Multiple Stakeholder Perspective Model
 Video Attachment

Kim, KyungdoSeoul National University
Lee, Yoon KyungSeoul National University
Ahn, HyeminTechnical University of Munich
Hahn, SowonSeoul National University
Oh, SonghwaiSeoul National University
 
TuDT22 Room T22
Cooperating Robots Regular session
Chair: Chernova, SoniaGeorgia Institute of Technology
Co-Chair: Tokekar, PratapUniversity of Maryland
 
16:30-16:45, Paper TuDT22.1 
Computing High-Quality Clutter Removal Solutions for Multiple Robots
 Video Attachment

Tang, Wei N.Rutgers University
Han, Shuai D.Rutgers University
Yu, JingjinRutgers University
 
16:45-17:00, Paper TuDT22.2 
Adaptive Partitioning for Coordinated Multi-Agent Perimeter Defense

Guimarães Macharet, DouglasUniversidade Federal De Minas Gerais
Chen, Austin KuUniversity of Pennsylvania
Shishika, DaigoUniversity of Pennsylvania
Pappas, George J.University of Pennsylvania
Kumar, VijayUniversity of Pennsylvania, School of Engineering and Applied Sc
 
17:00-17:15, Paper TuDT22.3 
Approximated Dynamic Trait Models for Heterogeneous Multi-Robot Teams
 Video Attachment

Neville, GlenGeorgia Institute of Technology
Ravichandar, HarishGeorgia Institute of Technology
Shaw, KennethGeorgia Institute of Technology
Chernova, SoniaGeorgia Institute of Technology
 
17:15-17:30, Paper TuDT22.4 
Cooperative Control of Mobile Robots with Stackelberg Learning
 Video Attachment

Koh, Joewie J.University of Colorado Boulder
Ding, GuohuiUniversity of Colorado Boulder
Heckman, ChristofferUniversity of Colorado at Boulder
Chen, LijunUniversity of Colorado at Boulder
Roncone, AlessandroUniversity of Colorado Boulder
 
17:30-17:45, Paper TuDT22.5 
Sparse Discrete Communication Learning for Multi-Agent Cooperation through Backpropagation
 Video Attachment

Freed, BenjaminCarnegie Mellon University
James, RohanCarnegie Mellon University
Sartoretti, Guillaume AdrienNational University of Singapore (NUS)
Choset, HowieCarnegie Mellon University
 
17:45-18:00, Paper TuDT22.6 
Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints

Mangette, ClaytonVirginia Polytechnic Institute
Tokekar, PratapUniversity of Maryland
 
TuDT23 Room T23
Swarms Regular session
Chair: Floreano, DarioEcole Polytechnique Federal, Lausanne
Co-Chair: De Schutter, JorisKU Leuven
 
16:30-16:45, Paper TuDT23.1 
SwarmLab: A MATLAB Drone Swarm Simulator
 Video Attachment

Soria, EnricaEPFL
Schiano, FabrizioEcole Polytechnique Federale De Lausanne, EPFL
Floreano, DarioEcole Polytechnique Federal, Lausanne
 
16:45-17:00, Paper TuDT23.2 
An Actor-Based Programming Framework for Swarm Robotic Systems

Yi, WeiNational Innovation Institute of Defense Technology
Di, BinArtificial Intelligence Research Center (AIRC), National Innovat
Li, RuihaoNational Innovation Institute of Defense Technology (NIIDT)
Dai, HuadongNational Innovation Institute of Defense Technology
Yi, XiaodongNational Innovation Institute of Defense Technology
Wang, YanzhenSchool of Computer, National University of Defense Technology
Yang, XuejunNational University of Defense Technology
 
17:00-17:15, Paper TuDT23.3 
A Distributed Range-Only Collision Avoidance Approach for Low-Cost Large-Scale Multi-Robot Systems
 Video Attachment

Han, RuihuaSouthern University of Science and Technology
Chen, ShengduoSouthern University of Science and Technology
Hao, QiSouthern University of Science and Technology
 
17:15-17:30, Paper TuDT23.4 
Automatic Control Synthesis for Swarm Robots from Formation and Location-Based High-Level Specifications
 Video Attachment

Chen, JiCornell University
Wang, HanlinNorthwestern University
Rubenstein, MichaelNorthwestern University
Kress-Gazit, HadasCornell University
 
17:30-17:45, Paper TuDT23.5 
Low-Viewpoint Forest Depth Dataset for Sparse Rover Swarms
 Video Attachment

Niu, ChaoyueAgents, Interaction and Complexity Group, Electronics and Comput
Tarapore, DaneshUniversity of Southampton
Zauner, Klaus-PeterUniversity of Southampton