2008 IEEE International Conference on Robotics and Automation (ICRA)
May 19-23, 2008, Pasadena Conference Center, Pasadena, CA, USA

Program at a Glance    Wednesday    Thursday    Friday    Author Index    Keyword Index  

Last updated on May 26, 2008. This conference program is tentative and subject to change

Technical Program for Thursday May 22, 2008

Paper with multimedia attachment


Planning Algorithms Regular Sessions
Chair: Akella, SrinivasRensselaer Pol. Inst.
Co-Chair: Cheng, PengUniv. of Pennsylvania

08:40-09:00, Paper ThA1.1

Adapting the Wavefront Expansion in Presence of Strong Currents
Soulignac, MichaelU of Nice Sophia Antipolis-THALES
Taillibert, PatrickTHALES
Rueher, MichelUniv. of Nice Sophia Antipolis

09:00-09:20, Paper ThA1.2

Path and Trajectory Diversity: Theory and Algorithms
Branicky, MichaelCase Western Res. Univ.
Knepper, Ross ACarnegie Mellon Univ.
Kuffner, JamesCarnegie Mellon Univ.

09:20-09:40, Paper ThA1.3

Duration Prediction for Proactive Replanning
Sellner, BrennanCarnegie Mellon Univ.
Simmons, ReidCarnegie Mellon Univ.

09:40-10:00, Paper ThA1.4

Using Hierarchical Binary Petri Nets to Build Robust Mobile Robot Applications: RoboGraph
López Fernández, JoaquínUniv. of Vigo
Sanz, RafaelUniv. of Vigo
Paz Domonte, EnriqueUniv. of Vigo
Alonso Lorenzo, Carlos, Carlos AlonsoUniv. of Vigo

10:00-10:20, Paper ThA1.5

Minimum Time Point Assignment for Coverage by Two Constrained Robots
Chakraborty, NilanjanRensselaer Pol. Inst.
Akella, SrinivasRensselaer Pol. Inst.
Wen, JohnRensselaer Pol. Inst.

10:20-10:40, Paper ThA1.6

An Almost Communication-Less Approach to Task Allocation for Multiple Unmanned Aerial Vehicles
Cheng, PengUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania


Visual Calibration Regular Sessions
Chair: Papanikolopoulos, NikosUniv. of Minnesota
Co-Chair: Forssen, Per-ErikLinkoping Univ.

08:40-09:00, Paper ThA2.1

Accurate Calibration of Intrinsic Camera Parameters by Observing Parallel Light Pairs
Sagawa, RyusukeOsaka Univ.
Yagi, YasushiOsaka Univ.

09:00-09:20, Paper ThA2.2

More Accurate Camera and Hand-Eye Calibrations with Unknown Grid Pattern Dimensions
Strobl, Klaus H.German Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)

09:20-09:40, Paper ThA2.3

Nonlinear and Geometric Optimization Methods for LADAR Calibration
Guerreiro, Bruno Joao NogueiraInst. Superior Tecnico
Silvestre, Carlos Jorge Ferreira SilvestreInst. Superior Tecnico
Oliveira, Paulo Jorge RamalhoISR- Inst. of Systems and Robotics - IST-Tech.
Vasconcelos, JoséInst. Superior Técnico - IST501507930

09:40-10:00, Paper ThA2.4

Calibration of Distributed Vision Network in Unified Coordinate System by Mobile Robots
Yokoya, TsuyoshiKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
Kurazume, RyoKyushu Univ.

10:00-10:20, Paper ThA2.5

Geometric Hand-Eye Calibration for an Endoscopic Neurosurgery System
Rivera-Rovelo, JorgeCINVESTAV del IPN, Unidad Guadalajara
Herold-Garcia, SilenaUniv. de Santiago
Bayro-Corrochano, Eduardo-JoseCINVESTAV, Unidad Guadalajara

10:20-10:40, Paper ThA2.6

An Easy Calibration for Oblique-Viewing Endoscopes
Wu, ChenyuSchool of Computer Science, Carnegie Mellon Univ.
Jaramaz, BranislavSchool of Computer Science, Carnegie Mellon Univ.


Range-Only and Bearing-Only SLAM Regular Sessions
Chair: Kantor, GeorgeCarnegie Mellon Univ.
Co-Chair: Hover, FranzMIT

08:40-09:00, Paper ThA3.1

Tracking a Moving Target in Cluttered Environments with Ranging Radios
Hollinger, GeoffreyCarnegie Mellon Univ.
Djugash, JosephCarnegie Mellon Univ.
Singh, SanjivCarnegie Mellon Univ.

09:00-09:20, Paper ThA3.2

A Pure Probabilistic Approach to Range-Only SLAM
Blanco, Jose-LuisUniv. of Malaga
Gonzalez, JavierUniv. of Malaga
Fernandez-Madrigal, Juan-AntonioUniv. of Malaga

09:20-09:40, Paper ThA3.3

Iterated Filters for Bearing-Only SLAM
Tully, StephenCarnegie Mellon Univ.
Moon, HyungpilSungKyunKwan Univ.
Kantor, GeorgeCarnegie Mellon Univ.
Choset, HowieCarnegie Mellon Univ.

09:40-10:00, Paper ThA3.4

Bearing-Only Mapping by Sequential Triangulation and Multi-Dimensional Scaling
Yairi, TakehisaUniv. of Tokyo
Kanazaki, HirofumiTokyo Univ.

10:00-10:20, Paper ThA3.5

SLAM in a Dynamic Large Outdoor Environment Using a Laser Scanner
Zhao, HuijingPeking Univ.
Chiba, MasakiMazda Motor Corp.
Shibasaki, RyosukeUniv. of Tokyo
Shao, XiaoweiUniv. of Tokyo
Cui, JinshiPeking Univ.
Zha, HongbinPeking Univ.

10:20-10:40, Paper ThA3.6

SLAM for Autonomous Ship Hull Inspection Using Exactly Sparse Extended Information Filters
Walter, MatthewMIT
Hover, FranzMIT
Leonard, JohnMIT


Swarm Approaches to Cooperative Manipulation Invited Sessions
Chair: Esposito, JoelUS Naval Acad.
Co-Chair: Shen, Wei-MinUSC Information Science Inst.
Organizer: Esposito, JoelUS Naval Acad.

08:40-09:00, Paper ThA4.1

Multi-Robot Manipulation Via Caging in Environments with Obstacles (I)
Fink, JonathanUniv. of Pennsylvania
Hsieh, M. AniSwarthmore Coll.
Kumar, VijayUniv. of Pennsylvania

09:00-09:20, Paper ThA4.2

Self Assembly of Modular Manipulators with Active and Passive Modules (I)
Yun, Seung-kookMIT
Rus, DanielaMIT

09:20-09:40, Paper ThA4.3

Adaptive Cooperative Manipulation with Intermittent Contact (I)
Murphey, ToddUniv. of Colorado
Horowitz, MatanyaUniv. of Colorado Boulder

09:40-10:00, Paper ThA4.4

Distributed Grasp Synthesis for Swarm Manipulation with Applications to Autonomous Tugboats (I)
Esposito, JoelUS Naval Acad.

10:00-10:20, Paper ThA4.5

Swarm-Based Object Manipulation Using Redundant Manipulator Analogs (I)
Bishop, BradleyUnited States Naval Acad.

10:20-10:40, Paper ThA4.6

Cooperative Manipulation on the Water Using a Swarm of Autonomous Tugboats (I)
Esposito, JoelUS Naval Acad.
Feemster, MatthewUnited States Naval Acad.
Smith, ErikUniv. of Pennsylvania


Connectivity Constrained Multi-Robot Systems Regular Sessions
Chair: Isler, VolkanRensselaer Pol. Inst.
Co-Chair: Gerkey, BrianSRI, International

08:40-09:00, Paper ThA5.1

Decentralized Connectivity Maintenance in Mobile Networks with Bounded Inputs
Dimarogonas, DimosRoyal Inst. of Tech.
Johansson, Karl H.Royal Inst. of Tech.

09:00-09:20, Paper ThA5.2

Robotic Routers
Tekdas, OnurRensselaer Pol. Inst.
Isler, VolkanRensselaer Pol. Inst.

09:20-09:40, Paper ThA5.3

Communication-Aware Trajectory Tracking
Lindhé, MagnusEE, KTH
Johansson, Karl H.Royal Inst. of Tech.

09:40-10:00, Paper ThA5.4

Connectivity Management in Mobile Robot Teams
Stump, EthanUniv. of Pennsylvania
Jadbabaie, AliUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania

10:00-10:20, Paper ThA5.5

Multi-Robot Routing under Limited Communication Range
Mosteo, AlejandroUniv. de Zaragoza
Montano, LuisUniv. de Zaragoza
Lagoudakis, MichailTech. Univ. of Crete

10:20-10:40, Paper ThA5.6

Preprocessing Technique to Signal Strength Data of Wireless Sensor Network for Real-Time Distance Estimation
Cabrera-Mora, FlavioThe City Univ. of New York
Xiao, JizhongCity Coll. of New York


Control of Parallel Manipulators Regular Sessions
Chair: Nagai, KiyoshiRitsumeikan Univ.
Co-Chair: Andreff, NicolasUniv. Blaise Pascal

08:40-09:00, Paper ThA6.1

A Systematic Approach to Stiffness Analysis of Parallel Mechanisms
Nagai, KiyoshiRitsumeikan Univ.
Liu, ZhengyongRitsumeikan Univ.

09:00-09:20, Paper ThA6.2

On the Dynamic Properties and Optimum Control of Parallel Manipulators in the Presence of Singularity
Briot, SébastienÉcole de Tech. supérieure (ÉTS)
Arakelian, VigenI.N.S.A. (National Inst. of Applied Sciences)

09:20-09:40, Paper ThA6.3

A Vision-Based Computed Torque Control for Parallel Kinematic Machines
Paccot, FlavienLASMEA
Lemoine, PhilippeEc. Centrale de Nantes
Andreff, NicolasUniv. Blaise Pascal
Chablat, DamienIRCCyN
Martinet, PhilippeBlaise Pascal Univ.

09:40-10:00, Paper ThA6.4

Stiffness Analysis of 3-D.o.f. Overconstrained Translational Parallel Manipulators
Pashkevich, AnatolyUniv.
Chablat, DamienIRCCyN
Wenger, PhilippeEc. Centrale de Nantes

10:00-10:20, Paper ThA6.5

Automatic Detection of Assembly Mode for a Triglide-Robot
Budde, ChristophTech. Univ. Braunschweig
Rose, MichaelGerman Aerospace Center
Maass, JochenTech. Univ. Braunschweig
Raatz, AnnikaTech. Univ. Braunschweig


Bio-Insipred and Biomedical Robotics Regular Sessions
Chair: Wood, RobertHarvard Univ.
Co-Chair: Burdick, JoelCalifornia Inst. of Tech.

08:40-09:00, Paper ThA7.1

A System for Motion Control and Analysis of High-Speed Passively Twisting Flapping Wings
Watman, DanielUniv. of New South Wales
Furukawa, TomonariUniv. of New South Wales

09:00-09:20, Paper ThA7.2

Sensorimotor Coupling Via Dynamic Bayesian Networks
Coen Cagli, RubenAlbert Einstein Coll. of Medicine, Yeshiva Univ.
Napoletano, PaoloUniv. di Salerno
Coraggio, PaoloUniv. degli Studi di Napoli Federico II
Boccignone, GiuseppeUniv. di Salerno
De Santis, AgostinoUniv. di Napoli Federico II

09:20-09:40, Paper ThA7.3

A Study of the Leg-Swing Motion of Passive Walking
Ikemata, YoshitoNagoya Inst. of Tech.
Yasuhara, KiyoshiNagoya Inst. of Tech.
Sano, AkihitoNagoya Inst. of Tech.
Fujimoto, HideoNagoya Inst. of Tech.

09:40-10:00, Paper ThA7.4

A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings
Wolf, MichaelCalifornia Inst. of Tech.
Cham, JorgeCaltech
Branchaud, EdwardCaltech
Burdick, JoelCalifornia Inst. of Tech.

10:00-10:20, Paper ThA7.5

Macromodel for the Mechanics of Gecko Hair Adhesion
Reyes, MichaelUniv. of California, Davis
Fearing, RonUniv. of California at Berkeley

10:20-10:40, Paper ThA7.6

Object Dynamics Prediction and Motion Generation Based on Reliable Predictability
Nishide, ShunKyoto Univ.
Ogata, TetsuyaKyoto Univ.
Yokoya, RyunosukeKyoto Univ.
Tani, JunRiken
Komatani, KazunoriKyoto Univ.
Okuno, Hiroshi G.Kyoto Univ.


Grasping and Tactile Sensing Regular Sessions
Chair: Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
Co-Chair: Hollerbach, JohnUniv. of Utah

08:40-09:00, Paper ThA8.1

Three-Dimensional Object Manipulation by Two Robot Fingers with Soft Tips and Minimum D.O.F
Yoshida, MorioRIKEN
Arimoto, SuguruRitsumeikan Univ.
Luo, Zhi-WeiThe Inst. of Physical and Chemical Res. (RIKEN)

09:00-09:20, Paper ThA8.2

Independent Contact Regions for Frictional Grasps on 3D Objects
Roa, MaximoTech. Univ. of Catalonia
Suarez, RaulTech. Univ. of Catalonia

09:20-09:40, Paper ThA8.3

Minimum Volume Bounding Box Decomposition for Shape Approximation in Robot Grasping
Huebner, KaiRoyal Inst. of Tech. (KTH), Stockholm
Ruthotto, SteffenUniv. of Koblenz
Kragic, DanicaSchool of Computer Science and Communication, KTH

09:40-10:00, Paper ThA8.4

Finding All Valid Hand Configurations for a Given Precision Grasp
Rosales, CarlosTech. Univ. of Catalonia
Porta, Josep MUPC-CSIC
Suarez, RaulTech. Univ. of Catalonia
Ros, LluisUPC-CSIC

10:00-10:20, Paper ThA8.5

A Decision Method for the Placement of Tactile Sensors for Manipulation Task Recognition
Matsuo, KazuyaKyushu Univ.
Murakami, KoujiKyushu Univ.
Hasegawa, TsutomuKyushu Univ.
Kurazume, RyoKyushu Univ.

10:20-10:40, Paper ThA8.6

Compliant Manipulation for Peg-In-Hole: Is Passive Compliance a Key to Learn Contact Motion?
Yun, Seung-kookMIT


Design and Control of Mobile Robots Regular Sessions
Chair: Yuta, ShinichiUniv. of Tsukuba
Co-Chair: Fiorini, PaoloUniv. of Verona

08:40-09:00, Paper ThA9.1

Trajectory Tracking Control of Omnidirecitonal Wheeled Mobile Manipulators: Robust Neural Network Based Sliding Mode Approach
Xu, DongInst. of Automation
Zhao, DongbinChinese Acad. of Sciences
Yi, JianqiangInst. of Automation, Chinese Acad.
Tan, XiangminInst. of Automation
Chen, ZonghaiUniv. of Sciences and Tech. of China

09:00-09:20, Paper ThA9.2

Navigation of an Omni-Directional Mobile Robot with Active Caster Wheels
Jung, Eui-jungHanyang Univ.
Yi, Byung-JuHanayang Univ.
Kim, Whee KukKorea Univ.
Lee, Jae HoonAIST
Lee, Ho YulHanyang Univ.
Yuta, ShinichiUniv. of Tsukuba

09:20-09:40, Paper ThA9.3

Design of an Omnidirectional Mobile Robot for Rough Terrain
Udengaard, MartinMIT
Iagnemma, KarlMIT

09:40-10:00, Paper ThA9.4

Practical Construction and Position Control of a Modular Actuated Holonomic Wheeled Mobile Robot
El-Shenawy, Ahmed KhamiesUniv. of Mannheim
Wagner, AchimUniv. of Mannheim
Badreddin, EssameddinUniv. of Mannheim

10:00-10:20, Paper ThA9.5

Nonlinear Predictive Control of an Omnidirectional Robot Dribbling a Rolling Ball
Li, XiangUniv. of Tübingen
Zell, AndreasUniv. of Tübingen

10:20-10:40, Paper ThA9.6

Efficient Airport Snow Shoveling by Applying Autonomous Multi-Vehicle Formations
Saska, MartinUniv. of Wuerzburg
Hess, MartinUniv. of Wuerzburg
Schilling, KlausUniv. of Würzburg


Human Detection and Tracking Regular Sessions
Chair: Howard, AndrewJPL
Co-Chair: Kulic, DanaUniv. of Tokyo

08:40-09:00, Paper ThA10.1

Human Detection Using Iterative Feature Selection and Logistic Principal Component Analysis
Abd-Almageed, WaelUniv. of Maryland
Davis, LarryUniv. of Maryland

09:00-09:20, Paper ThA10.2

Human Tracking and Segmentation Supported by Silhouette-Based Gait Recognition
Wang, JunqiuOSAKA Univ.
Makihara, YasushiOSAKA Univ.
Yagi, YasushiOsaka Univ.

09:20-09:40, Paper ThA10.3

Modeling and Recognition of Actions through Motor Primitives
Kragic, DanicaSchool of Computer Science and Communication, KTH
Martínez Mercado, DavidKTH - Royal Inst. of Tech.

09:40-10:00, Paper ThA10.4

Efficient People Tracking in Laser Range Data Using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities
Arras, Kai OliverUniv. of Freiburg
Grzonka, SlawomirAlbert-Ludwigs-Univ. of Freiburg
Luber, MatthiasUniv. of Freiburg
Burgard, WolframUniv. of Freiburg

10:00-10:20, Paper ThA10.5

Detecting and Tracking of 3D Face Pose for Human-Robot Interaction
Dornaika, FadiInst. Géographique National
Raducanu, BogdanComputer Vision Center

10:20-10:40, Paper ThA10.6

Missing Motion Data Recovery Using Factorial Hidden Markov Models
Lee, DongheuiUniv. of Tokyo
Nakamura, YoshihikoUniv. of Tokyo
Kulic, DanaUniv. of Tokyo


Compilant Joints for Safe Robots Regular Sessions
Chair: Kang, SungchulKorea Inst. of Science and Tech.
Co-Chair: Melchiorri, ClaudioUniv. of Bologna

08:40-09:00, Paper ThA11.1

Torque-Position Transformer for Task Control of Position Controlled Robots
Khatib, OussamaStanford Univ.
Thaulad, PeterStanford
Yoshikawa, TaizoHonda Res. Inst. USA, Inc.
Park, JaeheungStanford Univ.

09:00-09:20, Paper ThA11.2

Torque Transmission Mechanism with Nonlinear Passive Stiffness Using Mechanical Singularity
Okada, MasafumiTokyo Inst. of Tech.
Kino, ShintaroTokyo Tech.

09:20-09:40, Paper ThA11.3

A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation
Wolf, SebastianDLR - German Aerospace Center
Hirzinger, GerdGerman Aerospace Center (DLR)

09:40-10:00, Paper ThA11.4

A Hybrid Actuation Approach for Human-Friendly Robot Design
Shin, DongjunStanford Univ.
Sardellitti, IreneScuola Superiore Sant' Anna
Khatib, OussamaStanford Univ.

10:00-10:20, Paper ThA11.5

On the Feedback Linearization of Robots with Variable Joint Stiffness
Palli, GianlucaUniv. of Bologna
Melchiorri, ClaudioUniv. of Bologna
De Luca, AlessandroUniv. di Roma La Sapienza

10:20-10:40, Paper ThA11.6

Design of a Robot Joint with Variable Stiffness
Choi, JunhoKorea Inst. of Science and Tech.
Park, SunchulKorea Inst. of Science and Tech.
Lee, WoosubKorea Inst. of Science and Tech.
Kang, Sung-ChulKorea Inst. of Sci. and Tech.


Video Session 1 Video Sessions
Chair: Pollard, Nancy SCarnegie Mellon Univ.
Co-Chair: Tapus, AdrianaUniv. of Southern California

08:40-08:50, Paper ThA12.1

The OmniTread OT-4 Serpentine Robot
Borenstein, JohannUniv. of Michigan
Borrell, AdamUniv. of Michigan

08:50-09:00, Paper ThA12.2

High-Throughput Fully Automated Microrobotic Zebrafish Embryo Injection
Wang, WenhuiUniv. of Canterbury
Liu, XinyuUniv. of Toronto
Sun, YuUniv. of Toronto

09:00-09:10, Paper ThA12.3

Magmites - Wireless Resonant Magnetic Microrobots
Frutiger, Dominic R.ETH Zurich
Kratochvil, BradleySwiss Federal Inst. of Tech.
Vollmers, KarlETH Zurich
Nelson, Bradley J.ETH Zurich

09:10-09:20, Paper ThA12.4

CB: Exploring Neuroscience with a Humanoid Research Platform
Cheng, GordonATR Computational Neuroscience Lab.
Hyon, Sang-HoATR Computational Neuroscience Lab.
Ude, AlesJozef Stefan Inst.
Hale, Joshua G.ATR
Hart, JosephATR Computational Neuroscience Lab.
Bentivegna, DarrinATR Computational Neuroscience Lab.
Hodgins, JessicaCarnegie Mellon Univ.
Atkeson, ChristopherCMU
Mistry, MichaelUniv. of Southern California
Schaal, StefanUniv. of Southern California
Nakanishi, JunATR/JST-ICORP
Kawato, MitsuoATR

09:20-09:30, Paper ThA12.5

Learning Capture Points for Bipedal Push Recovery
Rebula, JohnUniv. of Michigan
Canas, FabianInistute for Human and Machine Cognition
Pratt, JerryInst. for Human and Machine Cognition
Goswami, AmbarishHonda Res. Inst.

09:30-09:40, Paper ThA12.6

Making Orthogonal Transitions with Climbing Mini-Whegs™
Wile, GregoryCase Western Res. Univ.
Daltorio, Kathryn ACase Western Res. Univ.
Palmer, LutherCase Western Res. Univ.
Witushynsky, TimothyCase Western Res. Univ.
Southard, LoriCase.Western Res. Univ. Biologically Inspired
Ahmad, Mohd RasyidCase Western Res. Univ.
Malek, AnasCase Western Res. Univ.
Gorb, Stanislav NMax-Planck-Inst. for Metals Res.
Boxerbaum, AlexanderCase Western Res. Univ.
Ritzmann, Roy EarlCase Western Res. Univ.
Quinn, Roger, D.Case Western Res. Univ.

09:40-09:50, Paper ThA12.7

A Fast Scale Prototyping Process for Folded Millirobots
Hoover, AaronUniv. of California, Berkeley
Fearing, RonUniv. of California at Berkeley

09:50-10:00, Paper ThA12.8

Power Pedals As Man-Machine Synergy Effectors - Bipedal Walking with Human Skill and Robot Power -
Kanaoka, KatsuyaRitsumeikan Univ.
Shirogauchi, GoActivelink Co., Ltd.
Nakamura, HarujiProtodesign Co., Ltd.

10:00-10:10, Paper ThA12.9

Potential Function Control for Multiple High-Speed Nonholonomic Robots
Wachter, LukeDartmouth Coll.
Murphy, JohnDartmouth Coll.
Ray, LauraDartmouth Coll.

10:10-10:20, Paper ThA12.10

Introducing DAGSI Whegs
Boxerbaum, AlexanderCase Western Res. Univ.
Oro, JulioCase Western Res. Univ.
Quinn, Roger, D.Case Western Res. Univ.

10:20-10:30, Paper ThA12.11

Person Recognition on a Segway Robot: A Video of UT Austin Villa Robocup@Home 2007 Finals Demonstration
Knox, W. BradleyThe Univ. of Texas at Austin
Lee, JuhyunThe Univ. of Texas at Austin
Stone, PeterUniv. of Texas at Austin


Plenary Session II Plenary Sessions
Chair: Sukhatme, GauravUniv. of Southern California
Co-Chair: Schaal, StefanUniv. of Southern California

11:00-12:00, Paper ThPP.1

Flocks and Fleets: Collective Motion and Sensing Networks in Nature and Robotics
Leonard, NaomiPrinceton Univ.


Planning with Uncertainty Regular Sessions
Chair: Koenig, SvenUniv. of Southern California
Co-Chair: Roy, NicholasMassachusetts Inst. of Tech.

13:40-14:00, Paper ThB1.1

A Probabilistic Method for Detecting Impending Vehicle Interactions
Worrall, StewartUniv. of Sydney
Nebot, EduardoUnversity of Sydney

14:00-14:20, Paper ThB1.2

C-Space Characterization of Contact Preserving Paths with Application to Tactile-Sensor Based Mobile Robot Navigation
Rimon, ElonTech.
Gabriely, YoavTech.

14:20-14:40, Paper ThB1.3

A Bayesian Framework for Optimal Motion Planning with Uncertainty
Censi, AndreaCalifornia Inst. of Tech.
Calisi, DanieleSapienza Univ. of Rome
De Luca, AlessandroUniv. di Roma "La Sapienza"
Oriolo, GiuseppeUniv. di Roma La Sapienza

14:40-15:00, Paper ThB1.4

Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
Gonzalez, Juan PabloGeneral Dynamics Robotic Systems / CMU
Stentz, AnthonyCarnegie Mellon Univ.

15:00-15:20, Paper ThB1.5

Planning in Information Space for a Quadrotor Helicopter in a GPS-Denied Environment
He, RuijieMassachusetts Inst. of Tech.
Prentice, SamMassachusetts Inst. of Tech.
Roy, NicholasMassachusetts Inst. of Tech.

15:20-15:40, Paper ThB1.6

Probabilistic Localization with a Blind Robot
Erickson, LawrenceUniv. of Illinois: Urbana-Champaign
Knuth, JosephUniv. of Illinois at Urbana-Champaign
O'Kane, JasonUniv. of South Carolina
LaValle, Steven MUniv. of Illinois


Visual Place Recognition Regular Sessions
Chair: Itti, LaurentUniv. of Southern California
Co-Chair: Lilienthal, Achim, J.Örebro Univ.

13:40-14:00, Paper ThB2.1

Accelerated Appearance-Only SLAM
Cummins, Mark JosephOxford Univ.
Newman, PaulOxford Univ.

14:00-14:20, Paper ThB2.2

Particle Filtering for Map-Aided Localization in Sparse GPS Environments
Miller, IsaacCornell Univ.
Campbell, MarkCornell Univ.

14:20-14:40, Paper ThB2.3

Real-Time Visual Loop-Closure Detection
Angeli, AdrienUniv. Pierre et Marie Curie
Filliat, DavidENSTA
Doncieux, StéphanePierre and Marie Curie Univ.
Meyer, Jean-ArcadyUPMC CNRS

14:40-15:00, Paper ThB2.4

Storing and Recalling Information for Vision Localization
Siagian, ChristianUniv. of Southern California
Itti, LaurentUniv. of Southern California

15:00-15:20, Paper ThB2.5

Incremental Spectral Clustering and Seasons: Appearance-Based Localization in Outdoor Environments
Valgren, ChristofferÖrebro Univ.
Lilienthal, AchimÖrebro Univ.

15:20-15:40, Paper ThB2.6

Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS
Mottaghi, RoozbehGeorgia Inst. of Tech.
Kaess, MichaelGeorgia Inst. of Tech.
Ranganathan, AnanthGeorgia Inst. of Tech.
Roberts, RichardGeorgia Inst. of Tech.
Dellaert, FrankGeorgia Inst. of Tech.


Slam Regular Sessions
Chair: Huang, ShoudongUniv. of Tech. Sydney
Co-Chair: Konolige, KurtSRI International

13:40-14:00, Paper ThB3.1

Exact State and Covariance Sub-Matrix Recovery for Submap Based Sparse EIF SLAM Algorithm
Huang, ShoudongUniv. of Tech. Sydney
Wang, ZhanUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney (UTS)

14:00-14:20, Paper ThB3.2

The Generation of Environmental Map Based on a NDT Grid Mapping -Proposal of Convergence Calculation Corresponding to High Resolution Grid
Kaminade, TakuyaOsaka Univ.
Takubo, TomohitoOsaka Univ.
Mae, YasushiOsaka Univ.
Arai, TatsuoGraduate School of Engineering Science, Osaka Univ.

14:20-14:40, Paper ThB3.3

Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning
Grisetti, GiorgioUnviersität Freiburg
Lodi Rizzini, DarioUniv. of Parma
Stachniss, CyrillUniv. of Freiburg
Olson, EdwinMassachusetts Inst. of Tech.
Burgard, WolframUniv. of Freiburg

14:40-15:00, Paper ThB3.4

A Region-Based SLAM Algorithm Capturing Metric, Topological, and Semantic Properties
Oberländer, JanFZI Forschungszentrum Informatik
Uhl, KlausFZI Forschungszentrum Informatik
Zöllner, Johann MariusFZI Forschungszentrum Informatik
Dillmann, RüdigerUniv. of Karlsruhe

15:00-15:20, Paper ThB3.5

New Framework for Simultaneous Localization and Mapping: Multi Map SLAM
Herath, Damith ChandanaUniv. of Tech. Sydney
Kodagoda, SarathUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney (UTS)

15:20-15:40, Paper ThB3.6

Active SLAM for Structured Environments
Leung, CindyUTS
Huang, ShoudongUniv. of Tech. Sydney
Dissanayake, GaminiUniv. of Tech. Sydney (UTS)


Decentralized Control of Multi-Robot Systems with Collision Avoidance Regular Sessions
Chair: Vaughan, RichardSimon Fraser Univ.
Co-Chair: Murphey, ToddUniv. of Colorado

13:40-14:00, Paper ThB4.1

No Robot Left Behind: Coordination to Overcome Local Minima in Swarm Navigation
Marcolino, LeandroFederal Univ. of Minas Gerais
Chaimowicz, LuizFederal Univ. of Minas Gerais

14:00-14:20, Paper ThB4.2

Mobile Dynamically Reformable Formations for Efficient Flocking Behavior in Complex Environments
Sahin, TurkerGebze Inst. of Tech.
Zergeroglu, ErkanGebze Inst. of Tech.

14:20-14:40, Paper ThB4.3

Coordination of Multiple AGVs in an Industrial Application
Olmi, RobertoUniv. of Modena and Reggio Emilia
Secchi, CristianUniv. of Modena and Reggio Emilia
Fantuzzi, CesareUniv. di Modena e Reggio Emilia

14:40-15:00, Paper ThB4.4

Modeling Multi-Robot Interaction Using Generalized Occupancy Grids, with Application to Reducing Spatial Interference
Zuluaga, MauricioSimon Fraser Univ.
Vaughan, RichardSimon Fraser Univ.

15:00-15:20, Paper ThB4.5

Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation
van den Berg, JurUniv. of North Carolina
Lin, Ming C.Univ. of North Carolina
Manocha, DineshUniv. of north carolina at chapel hill

15:20-15:40, Paper ThB4.6

Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles
Ayanian, NoraUniv. of Pennsylvania
Kumar, VijayUniv. of Pennsylvania


Multi-Robot Systems with Kinematic or Dynamic Constraints Regular Sessions
Chair: Kyriakopoulos, KostasNational Tech. Univ. of Athens
Co-Chair: Chung, Timothy H.Naval Postgraduate School

13:40-14:00, Paper ThB5.1

Pareto Optimal Multi-Robot Coordination with Acceleration Constraints
Jung, Jae BumUniv. of Illinois
Ghrist, RobertUniv. of Illinois

14:00-14:20, Paper ThB5.2

Control of Swarms Based on Hydrodynamic Models
Pimenta, LucianoUniv. Federal de Minas Gerais
Michael, NathanUniv. of Pennsylvania
Mesquita, RenatoUniv. Federal de Minas Gerais
Pereira, GuilhermeUniv. Federal de Minas Gerais
Kumar, VijayUniv. of Pennsylvania

14:20-14:40, Paper ThB5.3

Consensus of Multiple Uncertain Mechanical Systems and Its Application in Cooperative Control of Mobile Robots
Dong, WenjieUniv. of California, Riverside
Farrell, JayUniv. of California, Riverside

14:40-15:00, Paper ThB5.4

Network-Based Intelligent Space Approach for Car-Like Mobile Robots by Fuzzy Decentralized Variable Structure Control
Hwang, Chih-LyangTamkang Univ.

15:00-15:20, Paper ThB5.5

Formation Path Following Control of Unicycle-Type Mobile Robots
Ghommam, JawharOrléans
Maarouf, SaadÉcole de Tech. supérieure
Mnif, FaiçalÉcole Nationale d'Ingénieurs de Sfax

15:20-15:40, Paper ThB5.6

Inverse Agreement Algorithms with Application to Swarm Dispersion for Multiple Nonholonomic Agents
Dimarogonas, DimosRoyal Inst. of Tech.
Kyriakopoulos, KostasNational Tech. Univ. of Athens


Inverse Kinematics and Redundancy Regular Sessions
Chair: Antonelli, GianlucaUniv. degli Studi di Cassino
Co-Chair: Nakamura, YoshihikoUniv. of Tokyo

13:40-14:00, Paper ThB6.1

Trajectory Inverse Kinematics by Conditional Density Modes
Qin, ChaoUniv. of California, Merced
Carreira-Perpinan, MiguelUniv. of California, Merced

14:00-14:20, Paper ThB6.2

An Analytical Algorithm with Minimum Joint Velocity Jump for Redundant Robots in the Presence of Locked-Joint Failures
Zhao, Jing Beijing Univ. of Tech.
Li, QianBeijing Univ. of Tech.

14:20-14:40, Paper ThB6.3

Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems
Antonelli, GianlucaUniv. degli Studi di Cassino

14:40-15:00, Paper ThB6.4

Resolving the Problem of Non-Integrability of Nullspace Velocities for Compliance Control of Redundant Manipulators by Using Semi-Definite Lyapunov Functions
Ott, ChristianUniv. of Tokyo
Kugi, AndreasVienna Univ. of Tech.
Nakamura, YoshihikoUniv. of Tokyo

15:00-15:20, Paper ThB6.5

Inverse Kinematics without Matrix Inversion
Pechev, AlexandreUniv. of Surrey

15:20-15:40, Paper ThB6.6

Singularity Avoidance by Inputting Angular Velocity to a Redundant Axis During Cooperative Control of a Teleoperated Dual-Arm Robot
Hayakawa, MasanoriTohoku Univ.
Hara, KeikoTohoku Univ.
Sato, DaisukeMusashi Inst. of Tech.
Konno, AtsushiTohoku Univ.
Uchiyama, MasaruTohoku Univ.


Rehabilitation Robotics I Regular Sessions
Chair: Guglielmelli, EugenioUniv. Campus Bio-Medico
Co-Chair: Schweighofer, NicolasUSC

13:40-14:00, Paper ThB7.1

Intelligent Shoes for Abnormal Gait Detection
Chen, MengThe Chinese Univ. of Hong Kong
Huang, BufuThe Chinese Univ. of Hong Kong
Xu, YangshengThe Chinese Univ. of Hong Kong

14:00-14:20, Paper ThB7.2

Design, Implementation and Test Results of a Robust Control Method for a Powered Ankle Foot Orthosis (AFO)
Boehler, AlexanderArizona State Univ.
Hollander, KevinAugspurger-Komm Engineering, Inc.
Sugar, ThomasArizona State Univ.
Shin, DosunArizona State Univ.

14:20-14:40, Paper ThB7.3

Design of a Planar Robotic Machine for Neuro-Rehabilitation
Zollo, LoredanaUniv. Campus Bio-Medico
Accoto, DinoUniv. Campus Bio-Medico
Torchiani, FrancescoUniv. Campus Bio-Medico
Formica, DomenicoUniv. Campus Bio-medico
Guglielmelli, EugenioUniv. Campus Bio-Medico

14:40-15:00, Paper ThB7.4

An Exoskeleton for Gait Rehabilitation: Prototype Design and Control Principle
Beyl, PieterVrije Univ. Brussel
Van Damme, MichaëlVrije Univ. Brussel
Van Ham, RonaldVrije Univ. Brussel
Versluys, RinoVrije Univ. Brussel
Vanderborght, BramVrije Univ. Brussel
Lefeber, DirkVrije Univ. Brussel

15:00-15:20, Paper ThB7.5

Target Prediction for Icon Clicking by Athetoid Persons
Olds, KevinDartmouth Coll.
Sibenaller, SaraUniv. of Pittsburgh
Cooper, RoryUniv. of Pittsburgh
Ding, DanUniv. of Pittsburgh
Riviere, CameronCarnegie Mellon Univ.

15:20-15:40, Paper ThB7.6

Nonlinear Identification of Skeletal Muscle Dynamics with Sigma-Point Kalman Filter for Model-Based FES
Hayashibe, MitsuhiroINRIA Sophia-Antipolis
Poignet, PhilippeLIRMM UMR 5506 CNRS UM2
Guiraud, DavidINRIA
Makssoud, HassanIRDPQ


Haptic Displays and Interfaces Regular Sessions
Chair: O'Malley, MarciaRice Univ.
Co-Chair: Xiao, JingUNC-Charlotte

13:40-14:00, Paper ThB8.1

A Haptic Control Interface for a Motorized Exercise Machine
Carignan, CraigGeorgetown Univ. ISIS Center
Tang, JonathanGeorgetown Univ.

14:00-14:20, Paper ThB8.2

Perception of Haptic Force Magnitude During Hand Movements
Yang, Xing DongThe Univ. of Alberta
Bischof, WalterThe Univ. of Alberta
Boulanger, PierreThe Univ. of Alberta

14:20-14:40, Paper ThB8.3

Displaying Feeling of Cutting by a Micro-Scissors Type Haptic Device
Fujino, ShoheiTohoku Univ.
Sato, DaisukeMusashi Inst. of Tech.
Abe, KoyuTohoku Univ.
Konno, AtsushiTohoku Univ.
Uchiyama, MasaruTohoku Univ.

14:40-15:00, Paper ThB8.4

Path Guidance for a Safer Large Scale Dissipative Haptic Display
Dellon, BrianCarnegie Mellon Univ.
Matsuoka, YokyUniv. of Washington

15:00-15:20, Paper ThB8.5

A Passive Force Amplifier
Cagneau, BarthélemyUniv. Pierre et Marie Curie, Paris6
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6
Bellot, DelphineUniv. Pierre et Marie Curie - Paris 6
Zemiti, NabilUniv. Pierre et Marie Curie (Paris 6)
DAgostino, GianlucaFederico II

15:20-15:40, Paper ThB8.6

Control of a Mobile Haptic Interface
Unterhinninghofen, UlrichTech. Univ. München
Schauß, ThomasTech. Univ. München
Buss, MartinTech. Univ. Muenchen


Mobile Robot Calibration Regular Sessions
Chair: Tunstel, EdwardJHU Applied Physics Lab.
Co-Chair: Chung, Wan KyunPOSTECH

13:40-14:00, Paper ThB9.1

Simultaneous Learning of Motion and Sensor Model Parameters for Mobile Robots
Yap, Teddy Jr.Univ. of California, Riverside
Shelton, ChristianUniv. of California at Riverside

14:00-14:20, Paper ThB9.2

Simultaneous Maximum-Likelihood Calibration of Robot and Sensor Parameters
Censi, AndreaCalifornia Inst. of Tech.
Marchionni, LucaUniv. di Roma
Oriolo, GiuseppeUniv. di Roma La Sapienza

14:20-14:40, Paper ThB9.3

Maximum Likelihood Estimation of Sensor and Action Model Functions on a Mobile Robot
Stronger, DanielUniv. of Texas at Austin
Stone, PeterUniv. of Texas at Austin

14:40-15:00, Paper ThB9.4

Odometry and Calibration Methods for Multi-Castor Vehicles
Doebbler, JamesTexas A&M Univ.
Davis, JeremyTexas A&M Univ.
Junkins, John L.Texas A&M Univ.
Valasek, JohnTexas A&M Univ.

15:00-15:20, Paper ThB9.5

Odometry Calibration Using Home Positioning Function for Mobile Robot
Yun, YoungmokPostech ( Pohang Univ. of Science and Tech.
Chung, Wan KyunPOSTECH
Park, ByungjaePohang Univ. of science and Tech.

15:20-15:40, Paper ThB9.6

DIDIM: A New Method for the Dynamic Identification of Robots from Only Torque Data
Gautier, MaximeUniv. de Nantes
Janot, AlexandreHaption SA
Vandanjon, Pierre OlivierLab. Central des Pont et Chaussées


Human-Robot Coordination and Interaction Regular Sessions
Chair: Howard, AyannaGeorgia Inst. of Tech.
Co-Chair: Mettler, BernardUniv. of Minnesota

13:40-14:00, Paper ThB10.1

Interaction with a Zoomorphic Robot That Exhibits Canid Mechanisms of Behaviour
Jones, TrevorUniv. of Lincoln
Lawson, ShaunUniv. of Lincoln
Mills, DanielUniv. of Lincoln

14:00-14:20, Paper ThB10.2

How Can Human Motion Prediction Increase Transparency?
Jarrassé, NathanaëlUniv. Pierre et Marie Curie - Paris6
Paik, JamieUniv. P. et M. Curie-Paris 6
Pasqui, VivianeUniv. Pierre et Marie Curie, Paris 6
Morel, GuillaumeUniv. Pierre et Marie Curie - Paris 6

14:20-14:40, Paper ThB10.3

Development of Whole-Body Emotion Expression Humanoid Robot
Endo, NobutsunaWaseda Univ.
Momoki, ShimpeiWaseda Univ.
Zecca, MassimilianoWaseda Univ.
Saito, MinoruWaseda Univ.
Mizoguchi, YuWaseda Univ.
Itoh, KazukoWaseda Univ.
Takanishi, AtsuoWaseda Univ.

14:40-15:00, Paper ThB10.4

Measuring Human-Robot Team Effectiveness to Determine an Appropriate Autonomy Level
Kaupp, TobiasThe Univ. of Sydney
Makarenko, AlexeiUniv. of Sydney

15:00-15:20, Paper ThB10.5

An Extremal Fields Approach for the Analysis of Human Planning and Control Performance
Mettler, BernardUniv. of Minnesota

15:20-15:40, Paper ThB10.6

Human-Robot Coordination through Dynamic Regulation
Johnson, MatthewInst. for Human and Machine Cognition
Bradshaw, JeffreyIHMC
Feltovich, PaulIHMC
Bunch, LarryIHMC


Safe Robots Regular Sessions
Chair: Khatib, OussamaStanford Univ.
Co-Chair: Bicchi, AntonioUniv. of Pisa

13:40-14:00, Paper ThB11.1

Towards a Personal Robotics Development Platform: Rationale and Design of an Intrinsically Safe Personal Robot
Wyrobek, KeenanStanford Univ.
Berger, EricWillow Garage
Van der Loos, H.F. MachielUniv. of British Columbia (UBC)
Salisbury, KennethStanford Univ.

14:00-14:20, Paper ThB11.2

VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans
Schiavi, RiccardoUniv. of Pisa
Grioli, GiorgioUniv. di Pisa
Sen, SoumenThe Univ. of Pisa
Bicchi, AntonioUniv. of Pisa

14:20-14:40, Paper ThB11.3

Safe Joint Mechanism Based on Nonlinear Stiffness for Safe Human-Robot Collision
Park, Jung-JunKorea Univ.
Song, Jae-BokKorea Univ.
Kim, Hong-SeokKorea Inst. of Industrial Tech.
Lee, Yong-JuKorea Univ.

14:40-15:00, Paper ThB11.4

Safety for a Robot Arm Moving Amidst Humans by Using Panoramic Vision
Cervera, EnricJaume-I Univ.
Martinez, EsterUniv. Jaume I
Nomdedeu, LeoJaume-I Univ.
Pascual del Pobil, AngelJaume-I Univ.
Garcia, NicolasUniv. Miguel Hernandez de Elche

15:00-15:20, Paper ThB11.5

Investigation of Human-Robot Interaction Stability Using Lyapunov Theory
Duchaine, VincentUniv. Laval
Gosselin, ClementUniv. Laval

15:20-15:40, Paper ThB11.6

Evolution of Efficient Neural Controllers for Robot Multiple Task Performance – a Multiobjective Approach
Capi, GenciUniv. of Toyama


Video Session II Video Sessions
Chair: Tapus, AdrianaUniv. of Southern California
Co-Chair: Pollard, Nancy SCarnegie Mellon Univ.

13:40-13:50, Paper ThB12.1

Hierarchical Two Stage Planner for Little Dog
Bonnlander, BrianInst. for Human and Machine Cognition
Rebula, JohnUniv. of Michigan
Neuhaus, PeterInst. for Human and Machine Cognition
Johnson, MatthewInst. for Human and Machine Cognition
Hill, GregIHMC
Perez, CarlosIHMC
Carff, JohnIHMC
Howell, WilliamIHMC
Pratt, JerryInst. for Human and Machine Cognition

13:50-14:00, Paper ThB12.2

Injury Evaluation of Human-Robot Impacts
Haddadin, SamiGerman Aerospace Center (DLR)
Albu-Schäffer, AlinDLR - German Aeorspace Center
Strohmayr, MichaelGerman Aerospace Center
Frommberger, MirkoGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)

14:00-14:10, Paper ThB12.3

Preliminary Report: Rescue Robot at Crandall Canyon, Utah, Mine Disaster
Murphy, RobinUniv. of South Florida

14:10-14:20, Paper ThB12.4

Learning to Dribble on a Real Robot by Success and Failure
Riedmiller, MartinUniv. of Osnabrueck
Hafner, RolandUniv. of Osnabrueck
Lange, SaschaUniv. of Osnabrück
Lauer, MartinUniv. of Osnabrück

14:20-14:30, Paper ThB12.5

Bari-Bari-II: Jack-Up Rescue Robot with Debris Opening Function
Tsukagoshi, HideyukiTokyo Inst. of Tech.
Kitagawa, AtoTokyo Inst. of Tech.

14:30-14:40, Paper ThB12.6

Mixed Reality Environment for Autonomous Robot Development
Nishiwaki, KoichiNational Inst. of AIST
Kobayashi, KazuhikoCanon Inc.
Uchiyama, ShinjiCanon Inc.
Yamamoto, HiroyukiCanon Inc.
Kagami, SatoshiNational Inst. of AIST

14:40-14:50, Paper ThB12.7

Autonomous Aircraft Flight Control for Constrained Environments
How, JonathanMassachusetts Inst. of Tech.
McGrew, JamesMassachusetts Inst. of Tech.
Frank, AdrianMassachusetts Inst. of Tech.
Hines, GeorgeCaltech

14:50-15:00, Paper ThB12.8

Handling of a Single Object by Multiple Mobile Robots Based on Caster-Like Dynamics
Hirata, YasuhisaTohoku Univ.
Kume, YoheiTohoku Univ.
Wang, Zhi DongChiba Inst. of Tech.
Kosuge, KazuhiroTohoku Univ.

15:00-15:10, Paper ThB12.9

Learning Terrain Cost Maps
Rebula, JohnUniv. of Michigan
Hill, GregIHMC
Bonnlander, BrianInst. for Human and Machine Cognition
Johnson, MatthewInst. for Human and Machine Cognition
Neuhaus, PeterInst. for Human and Machine Cognition
Perez, CarlosIHMC
Carff, JohnIHMC
Howell, WilliamIHMC
Pratt, JerryInst. for Human and Machine Cognition

15:10-15:20, Paper ThB12.10

Control of a Fully-Actuated Airship for Satellite Emulation
Sharf, InnaMcGill Univ.
Laumonier, BryanMcGill Univ.
Persson, MikaelMcGill Univ.
Robert, JoelMcGill Univ.

15:20-15:30, Paper ThB12.11

Meso-Scale Manipulation: System, Modeling, Planning and Control
Cappelleri, DavidGRASP Lab. Univ. of Pennsylvania
Cheng, PengUniv. of Pennsylvania
Fink, JonathanUniv. of Pennsylvania
Gavrea, BogdanUniv. Babes-Bolyai Cluj-Napoca
Kumar, VijayUniv. of Pennsylvania


Path Planning Regular Sessions
Chair: Stilman, MikeGeorgia Tech.
Co-Chair: Maeda, YusukeYokohama National Univ.

16:00-16:20, Paper ThC1.1

Generation of Energy-Efficient Trajectories for NIMS3D, a Three-Dimensional Cabled Robot
Borgstrom, Per HenrikUCLA
Borgstrom, Nils PeterUniv. of California, Los Angeles
Stealey, Michael J.UCLA
Jordan, BrettUCLA, CENS
Sukhatme, GauravUniv. of Southern California
Batalin, MaximCENS, UCLA
Kaiser, WilliamUCLA

16:20-16:40, Paper ThC1.2

GPS Denied Source Seeking for Underactuated Autonomous Vehicles in 3D
Cochran, JennieUniv. of San Diego, CA
Siranosian, Antranik AntonioUniv. of California, San Diego
Ghods, NimaUniv. of California, San Diego
Krstic, MiroslavUniv. of California, San Diego

16:40-17:00, Paper ThC1.3

Easy Robot Programming for Industrial Manipulators by Manual Volume Sweeping
Maeda, YusukeYokohama National Univ.
Ushioda, TatsuyaYokohama National Univ.
Makita, SatoshiYokohama National Univ.

17:00-17:20, Paper ThC1.4

Inverse versus Direct Kinematics Model Based on Flatness and Escape Lanes to Control CyCab Mobile Robot
Morette, NicolasLab. Vision et Robotique de Bourges
Novales, CyrilLab. Vision et Robotique
Vieyres, PierreLab. Vision et Robotique

17:20-17:40, Paper ThC1.5

Real-Time Clothoid Approximation by Rational Bezier Curves
Montés, NicolásTech. Univ. of valencia
Herraez, AlvaroTech. Univ. of valencia
Armesto, LeopoldoTech. Univ. of valencia
Tornero, JosepTech. Univ. of valencia

17:40-18:00, Paper ThC1.6

Coordinated Motion Control of a Robot Arm and a Positioning Table with Arrangement of Multiple Goals
Gueta, Lounell B.School of Engineering, The Univ. of Tokyo
Chiba, RyosukeUniv. of Tokyo
Ota, JunThe Univ. of Tokyo
Arai, TamioUniv. of Tokyo


Visual Tracking Regular Sessions
Chair: Zha, HongbinPeking Univ.
Co-Chair: Abd-Almageed, WaelUniv. of Maryland

16:00-16:20, Paper ThC2.1

Fusion Tracking in Color and Infrared Images Using Sequential Belief Propagation
Liu, HuapingTsinghua Univ.

16:20-16:40, Paper ThC2.2

A New Spatial-Color Mean-Shift Object Tracking Algorithm with Scale and Orientation Estimation
Hu, Jwu-ShengNational Chiao Tung Univ.
Juan, Chung-WeiNational Chiao Tung Univ.

16:40-17:00, Paper ThC2.3

Tracking Interacting Targets with Laser Scanner Via On-Line Supervised Learning
Song, XuanPeking Univ.
Cui, JinshiPeking Univ.
Wang, Xu-LeiPeking Univ.
Zhao, HuijingPeking Univ.
Zha, HongbinPeking Univ.

17:00-17:20, Paper ThC2.4

Multi-View 3D Vehicle Tracking with a Constrained Filter
Atev, StefanUniv. of Minnesota
Papanikolopoulos, NikosUniv. of Minnesota

17:20-17:40, Paper ThC2.5

Dynamic Visibility Checking for Vision-Based Motion Planning
Leonard, SimonUniv. of Alberta
Croft, ElizabethUniv. of British Columbia
Little, James J.UBC

17:40-18:00, Paper ThC2.6

Dynamic Time Warping for Binocular Hand Tracking and Reconstruction
Kragic, DanicaSchool of Computer Science and Communication, KTH
Romero, JavierKTH
Kyrki, VilleLappeenranta Univ. of Tech.
Argyros, AntonisFORTH


Off-Road Mobile Robots Regular Sessions
Chair: Shiller, ZviAriel Univ. Center
Co-Chair: Yoshida, KazuyaTohoku Univ.

16:00-16:20, Paper ThC3.1

Slope Traversal Experiments with Slip Compensation Control for Lunar/Planetary Exploration Rover
Ishigami, GenyaTohoku Univ.
Nagatani, KeijiTohoku Univ.
Yoshida, KazuyaTohoku Univ.

16:20-16:40, Paper ThC3.2

Dynamic Stability of Off-Road Vehicles: Quasi-3D Analysis
Mann, P.The Coll. of Judea and Samaria
Shiller, ZviAriel Univ. Center

16:40-17:00, Paper ThC3.3

Design, Simulations and Optimization of a Tracked Mobile Robot Manipulator with Hybrid Locomotion and Manipulation Capabilities
Ben-Tzvi, PinhasUniv. of Toronto
Goldenberg, AndrewUniv. of Toronto
Zu, Jean W.Univ. of Toronto

17:00-17:20, Paper ThC3.4

Off-Road Robot Modeling with Dextrous Manipulation Kinematics
Auchter, JosephFlorida State Univ.
Moore, Carl A.FAMU/FSU Coll. of Engineering

17:20-17:40, Paper ThC3.5

Elementary Mechanical Analysis of Obstacle Crossing for Wheeled Vehicles
Berkemeier, MatthewAutonomous Solutions, Inc.
Poulson, EricAutonomous Solutions, Inc.
Groethe, TravisAutonomous Solutions, Inc.

17:40-18:00, Paper ThC3.6

Design of the Mechanics and Sensor System of an Autonomous All-Terrain Robot Platform
Pietikäinen, Aku SamuliUniv. of Oulu
Tikanmäki, AnttiUniv. of Oulu
Röning, Juha JaakkoUniv. of Oulu


Multi-Robot Search Regular Sessions
Chair: LaValle, Steven MUniv. of Illinois
Co-Chair: Parker, LynneUniv. of Tennessee

16:00-16:20, Paper ThC4.1

Tracking Hidden Agents through Shadow Information Spaces
Yu, JingjinU of Illinois at Urbana Champaign
LaValle, Steven MUniv. of Illinois

16:20-16:40, Paper ThC4.2

Multi-Robot Perimeter Patrol in Adversarial Settings
Agmon, NoaBar-Ilan Univ.
Kraus, SaritBar-Ilan Univ.
Kaminka, Gal ABar Ilan Univ.

16:40-17:00, Paper ThC4.3

A Ladybug Exploration Strategy for Distributed Adaptive Coverage Control
Schwager, MacMassachusetts Inst. of Tech.
Bullo, FrancescoUCSB
Skelly, DavidYale Univ.
Rus, DanielaMIT

17:00-17:20, Paper ThC4.4

Target Assignment for Integrated Search and Tracking by Active Robot Networks
Frew, Eric W.Univ. of Colorado
Elston, JackUniv. of Colorado, Boulder

17:20-17:40, Paper ThC4.5

Multirobot Surveillance: An Improved Algorithm for the GRAPH-CLEAR Problem
Kolling, AndreasUniv. of California Merced
Carpin, StefanoUniv. of California, Merced

17:40-18:00, Paper ThC4.6

Active Target Search from UAVs in Urban Environments
Geyer, ChristopherCarnegie Mellon Univ.


Vision: Image Capture and Processing Regular Sessions
Chair: Daniilidis, KostasUniv. of Pennsylvania
Co-Chair: Sanfeliu, AlbertoUniv. Pol. de Cataluyna

16:00-16:20, Paper ThC5.1

Target-Directed Attention: Sequential Decision-Making for Gaze Planning
Vogel, JuliaUniv. of British Columbia
de Freitas, NandoUniv. of British Columbia

16:20-16:40, Paper ThC5.2

The Complex of Lines from Successive Points and the Horopter
Selig, J.M.London South Bank Univ.

16:40-17:00, Paper ThC5.3

Removal of Adherent Noises from Image Sequences by Spatio-Temporal Image Processing
Yamashita, AtsushiShizuoka Univ.
Fukuchi, IsaoShizuoka Univ.
Kaneko, ToruShizuoka Univ.
T. Miura, KenjiroShizuoka Univ.

17:00-17:20, Paper ThC5.4

Background Compensation Using Hough Transformation
Pham, Xuan DaiSungkyunkwan Univ.
Cho, Jung UkSungkyunkwan Univ.
Jeon, Jae WookSungkyunkwan Univ.

17:20-17:40, Paper ThC5.5

Visual Saliency Model for Robot Cameras
Butko, NicholasUniv. of California at San Diego
Zhang, LingyunUniv. of California at San Diego
Cottrell, Garrison W.Univ. of California at San Diego
Movellan, JavierUniv. California San Diego

17:40-18:00, Paper ThC5.6

Real Time Vision for Robotics Using a Moving Fovea Approach with Multi Resolution
Gomes, Rafael BeserraUniv. Federal do Rio Grande do Norte
Garcia Gonçalves, Luiz MarcosFederal Univ. of Rio Grande do Norte
M. Carvalho, BrunoUFRN


Dynamics and Control of Underactuated Systems Regular Sessions
Chair: Goodwine, BillUniv. of Notre Dame
Co-Chair: Agrawal, SunilUniv. of Delaware

16:00-16:20, Paper ThC6.1

Basketball Robot: Ball-On-Plate with Pure Haptic Information
Lee, Kwang-KyuTech. Univ. München (TUM)
Baetz, GeorgTU Munich
Wollherr, DirkTech. Univ. München

16:20-16:40, Paper ThC6.2

Dynamic Programming for Global Control of the Acrobot and Its Chaotic Aspect
Ueda, RyuichiThe Univ. of Tokyo
Arai, TamioUniv. of Tokyo

16:40-17:00, Paper ThC6.3

Differentially Flat Design of Under-Actuated Planar Robots: Experimental Results
Sangwan, VivekUniv. of Delaware
Kuebler, HelgeUniv. of Delaware
Agrawal, SunilUniv. of Delaware

17:00-17:20, Paper ThC6.4

Control of a Class of Under-Actuated Systems with Saturation Using Hierarchical Sliding Mode
Qian, DianweiChinese Acad. of Sciences
Yi, JianqiangInst. of Automation, Chinese Acad.
Zhao, DongbinChinese Acad. of Sciences

17:20-17:40, Paper ThC6.5

Intrinsic Vector-Valued Symmetric Form for Simple Mechanical Control Systems in the Nonzero Velocity Setting
Nightingale, JasonUniv. of Notre Dame
Hind, RichardUniv. of Notre Dame
Goodwine, BillUniv. of Notre Dame

17:40-18:00, Paper ThC6.6

Underactuated Virtual Passive Dynamic Walking with an Upper Body
Asano, FumihikoBMC RIKEN
Luo, Zhi-WeiThe Inst. of Physical and Chemical Res. (RIKEN)


Rehabilitation Robotics II Regular Sessions
Chair: Sugar, ThomasArizona State Univ.
Co-Chair: Van der Loos, H.F. MachielUniv. of British Columbia (UBC)

16:00-16:20, Paper ThC7.1

Design of a 3D Gravity Balanced Orthosis for Upper Limb
Rizk, Rani RIZKLirmm
Krut, SebastienLIRMM (CNRS & Univ. of Montpellier)
Dombre, EtienneUniv. Montpellier II & CNRS

16:20-16:40, Paper ThC7.2

Controlling Shoulder Impedance in a Rehabilitation Arm Exoskeleton
Carignan, CraigGeorgetown Univ. ISIS Center
Naylor, MichaelUniv. of Maryland
Roderick, StephenUniv. of Maryland

16:40-17:00, Paper ThC7.3

A Forearm Actuation Unit for an Upper Extremity Prosthesis
Withrow, ThomasVanderbilt Univ.
Shen, XiangrongVanderbilt Univ.
Mitchell, JasonVanderbilt Univ.
Goldfarb, MichaelVanderbilt Univ.

17:00-17:20, Paper ThC7.4

Robot-Mediated Arm Rehabilitation in Virtual Environments for Chronic Stroke Patients: A Clinical Study
Frisoli, AntonioScuola Superiore Sant'Anna
Borelli, Luigi FedericoScuola Superiore Sant'Anna Pisa
Montagner, AlbertoSant'Anna School of Advanced Studies
Marcheschi, SimonePERCRO - Scuola Superiore S.Anna
Procopio, CaterinaScuola Superiore Sant'Anna
Salsedo, FabioPERCRO - Scuola Superiore S.Anna
Bergamasco, MassimoScuola Superiore S.Anna
Carboncini, Maria ChiaraUniv. degli Studi di Pisa
Rossi, BrunoUniv. degli Studi di Pisa

17:20-17:40, Paper ThC7.5

ADAPT – Adaptive Automated Robotic Task Practice System for Stroke Rehabilitation
Choi, YounggeunUniv. of Southern California
Gordon, JamesUniv. of Southern California
Schweighofer, NicolasUSC

17:40-18:00, Paper ThC7.6

Comparison of Robotic and Clinical Motor Function Improvement Measures for Sub-Acute Stroke Patients
Celik, OzkanRice Univ.
O'Malley, MarciaRice Univ.
Boake, CorwinUniv. of Texas Health Science Center
Levin, HarveyBaylor Coll. of Medicine
Fischer, StevenThe Inst. of Rehabilitation Res.
Reistetter, TimothyEast Carolina Univ.


Medical Robotics Systems for Treatment and Intervention Regular Sessions
Chair: Alterovitz, RonUniv. of California, Berkeley
Co-Chair: Fischer, GregoryJohns Hopkins Univ. - CISST ERC

16:00-16:20, Paper ThC8.1

Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles
Duindam, VincentUniv. of California, Berkeley
Alterovitz, RonUniv. of California, Berkeley
Sastry, ShankarUniv. of California, Berkeley
Goldberg, KenUC Berkeley

16:20-16:40, Paper ThC8.2

Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions
Fischer, GregoryJohns Hopkins Univ. - CISST ERC
Iordachita, IulianJohns Hopkins Univ.
Csoma, CsabaJohns Hopkins Univ.
Tokuda, JunichiBrigham and Women's Hospital and Harvard Medical School
Mewes, Philip WalterBrigham and Women's Hospital
Tempany, ClareBrigham & Women's hospital, Harvard MEDICAL sCHOOL
Hata, NobuhikoBrigham and Women's Hospital
Fichtinger, GaborQueen's Univ.

16:40-17:00, Paper ThC8.3

Dynamics-Based Decentralized Control of Robotic Couch and Multi-Leaf Collimators for Tracking Tumor Motion
Podder, TarunThomas Jefferson Univ.
Buzurovic, IvanThomas Jefferson Univ.
Galvin, JamesThomas Jefferson Univ. Hospital
Yu, YanThomas Jefferson Univ. Hospital

17:00-17:20, Paper ThC8.4

The Experimental Study of a Precision Parallel Manipulator with Binary Actuation: With Application to MRI Cancer Treatment
Tadakuma, KenjiroMassachusetts Inst. of Tech.
Devita, LaurenMIT
Plante, Jean-SebastienUniv. de Sherbrooke
Yan, ShaozeMIT
Dubowsky, StevenMIT

17:20-17:40, Paper ThC8.5

Towards a Needle Driver Robot for Radiofrequency Ablation of Tumors under Continuous MRI
Kokes, RebeccaUniv. of Maryland
Lister, KevinUniv. of Maryland
Gullapalli, RaoUniv. of Maryland School of Medicine
Zhang, BaoUniv. of Maryland School of Medicine
Richard, HowardUniv. of Maryland School of Medicine
Desai, Jaydev P.Univ. of Maryland

17:40-18:00, Paper ThC8.6

Robot Assisted Real-Time Tumor Manipulation for Breast Biopsy
Mallapragada, VishnuVanderbilt Univ.
Sarkar, Nilanjanvanderbilt Univ.
Podder, TarunThomas Jefferson Univ.


Non-Holonomic Mobile Robot Control Regular Sessions
Chair: Guo, YiStevens Inst. of Tech.
Co-Chair: Bidaud, PhilippeUniv. Pierre et Marie Curie - Paris 6

16:00-16:20, Paper ThC9.1

Human-Friendly Motion Control of a Wheeled Inverted Pendulum by Reduced-Order Disturbance Observer
Choi, DongilKorea Advanced Inst. of Science and Tech. (KAIST)
Oh, Jun-HoKorea Advanced Inst. of Sci. and Tech.

16:20-16:40, Paper ThC9.2

Kinematic Motion Control of Wheeled Mobile Robots Considering Curvature Constraints
Kim, YoungshikUniv. of Utah
Minor, MarkUniv. of Utah

16:40-17:00, Paper ThC9.3

Generalizing the Dubins and Reeds-Shepp Cars: Fastest Paths for Bounded-Velocity Mobile Robots
Furtuna, AndreiDartmouth Coll.
Balkcom, DevinDartmouth Coll.
Chitsaz, HamidrezaUniv. of Illinois at Urbana-Champaign
Kavathekar, ParitoshDartmouth Coll.

17:00-17:20, Paper ThC9.4

Stabilization Algorithm for a High Speed Car-Like Robot Achieving Steering Maneuver
Lucet, EricRobosoft, Univ. Pierre et Marie Curie - Paris6
Grand, ChristopheUniv. Pierre et Marie Curie - Paris6
Sallé, DamienROBOSOFT
Bidaud, PhilippeUniv. Pierre et Marie Curie - Paris 6

17:20-17:40, Paper ThC9.5

Calibration of Kinematic Parameters of a Car-Like Mobile Robot to Improve Odometry Accuracy
Lee, KooktaeKorea Univ.
Chung, WoojinKorea Univ.

17:40-18:00, Paper ThC9.6

Optimal Trajectory Generation for Nonholonomic Robots in Dynamic Environments
Guo, YiStevens Inst. of Tech.
Tang, TangStevens Inst. of Tech.


Human-Robot Interaction: Systems and Algorithms Regular Sessions
Chair: Christensen, Henrik IskovGeorgia Inst. of Tech.
Co-Chair: Thomaz, Andrea LockerdGeorgia Inst. of Tech.

16:00-16:20, Paper ThC10.1

Field Trial of Asynchronous Communication Using Network-Based Interactive Child Watch System for the Participation of Parents in Day-Care Activities
Kawata, HiroakiNippon Telegraph and Telephone Corp.
Takano, YosukeNEC Corp.
Iwata, YoshiyukiNippon Telegraph and Telephone Corp.
Kanamaru, NaoyoshiNTT Cyber Splutions Lab.
Shimokura, Ken-ichiroAdvanced Tele. Res. Inst.
Fujita, YoshihiroNEC Corp.

16:20-16:40, Paper ThC10.2

Detecting Structural Ambiguities and Transitions During a Guided Tour
Topp, Elin AnnaRoyal Inst. of Tech. (KTH), Stockholm
Christensen, Henrik IskovGeorgia Inst. of Tech.

16:40-17:00, Paper ThC10.3

Driving Skill Characterization: A Feasibility Study
Zhang, YiluGeneral Motors R&D Center

17:00-17:20, Paper ThC10.4

Person Tracking on a Mobile Robot with Heterogeneous Inter-Characteristic Feedback
Lee, JuhyunThe Univ. of Texas at Austin
Stone, PeterUniv. of Texas at Austin

17:20-17:40, Paper ThC10.5

Dismantling Interior Facilities in Buildings by Human Robot Collaboration
Cruz Ramirez, Sergio RolandoOsaka Univ.
Ishizuka, YuusukeOsaka Univ.
Mae, YasushiOsaka Univ.
Takubo, TomohitoOsaka Univ.
Arai, TatsuoGraduate School of Engineering Science, Osaka Univ.

17:40-18:00, Paper ThC10.6

Combining Automated On-Line Segmentation and Incremental Clustering for Whole Body Motions
Kulic, DanaUniv. of Tokyo
Takano, WataruTokyo Univ.
Nakamura, YoshihikoUniv. of Tokyo


Position, Force, and Impedance Control Regular Sessions
Chair: Featherstone, RoyThe Australian National Univ.
Co-Chair: de Mathelin, MichelUniv. of Strasbourg

16:00-16:20, Paper ThC11.1

Position and Force Control of the Grasping Function for a Hyperredundant Arm
Ivanescu, MirceaUniv. of Craiova
Florescu, Mihaela CeciliaUniv. of Craiova
Popescu, NirvanaUniv. Pol. BUCURESTI
Popescu, DecebalUniv. Pol. BUCURESTI

16:20-16:40, Paper ThC11.2

Grasping Force Control of Multi-Fingered Robot Hand Based on Slip Detection Using Tactile Sensor
Gunji, DaisukeNSK Ltd.
Mizoguchi, YoshitomoThe Univ. of Electro-Communications
Teshigawara, SeiichiThe Univ. of Electro-Communications
Ming, AiguoThe Univ. of Electro-Communications
Namiki, AkioUniv. of Tokyo
Ishikawa, MasatoshiUniv. of Tokyo
Shimojo, MakotoUniv. of Electro-COmmunications

16:40-17:00, Paper ThC11.3

On Iterative Learning Control for Simultaneous Force/Position Trajectory Tracking by Using 5 D.O.F. Robotic Thumb under Non-Holonomic Rolling Constraints
Tahara, KenjiKyushu Univ.
Arimoto, SuguruRitsumeikan Univ.
Sekimoto, MasahiroRitsumeikan Univ.
Yoshida, MorioRIKEN
Luo, Zhi-WeiThe Inst. of Physical and Chemical Res. (RIKEN)

17:00-17:20, Paper ThC11.4

Improving Force Control Performance by Computational Elimination of Non-Contact Forces/Torques
Kubus, DanielTech. Univ. of Braunschweig
Kroeger, TorstenTech. Univ. of Braunschweig
Wahl, Friedrich M.Tech. Univ. of Braunschweig

17:20-17:40, Paper ThC11.5

An IMC Based Enhancement of Accuracy and Robustness of Impedance Control
Kang, Sang HoonKorea Advanced Inst. of Science and Tech.
Jin, MaolinKorea Advanced Inst. of Science and Tech.
Chang, Pyung HunKAIST

17:40-18:00, Paper ThC11.6

New Aspects of Input Shaping Control to Damp Oscillations of a Compliant Force Sensor
Kamel, AmineGerman Aerospace (DLR)
Lange, FriedrichGerman Aerospace Center (DLR)
Hirzinger, GerdGerman Aerospace Center (DLR)


Pursuit-Evasion Regular Sessions
Chair: Hsu, DavidNational Univ. of Singapore
Co-Chair: Murrieta-Cid, RafaelCenter for Mathematical Res. (CIMAT)

16:00-16:20, Paper ThC12.1

Hybrid Laser and Vision Based Object Search and Localization
Galvez Lopez, DorianRoyal Inst. of Tech.
Sjö, KristofferRoyal Inst. of Tech.
Paul, ChandanaRoyal Inst. of Tech.
Jensfelt, PatricRoyal Inst. of Tech.

16:20-16:40, Paper ThC12.2

A Point-Based POMDP Planner for Target Tracking
Hsu, DavidNational Univ. of Singapore
Lee, Wee SunNational Univ. of Singapore
Rong, NanCornell Univ.

16:40-17:00, Paper ThC12.3

Information Value-Driven Approach to Path Clearance with Multiple Scout Robots
Likhachev, MaximCarnegie Mellon Univ.
Stentz, AnthonyCarnegie Mellon Univ.

17:00-17:20, Paper ThC12.4

A Complexity Result for the Pursuit-Evasion Game of Maintaining Visibility of a Moving Evader
Murrieta-Cid, RafaelCenter for Mathematical Res. (CIMAT)
Monroy, RaúlTecnológico de Monterrey, Campus Estado de México
Hutchinson, SethUniv. of Illinois
Laumond, Jean-PaulLAAS-CNRS

17:20-17:40, Paper ThC12.5

Bearing-Only Pursuit
Karnad, NikhilRensselaer Pol. Inst. (RPI)
Isler, VolkanRensselaer Pol. Inst.

17:40-18:00, Paper ThC12.6

Partial Barrier Coverage: Using Game Theory to Optimize Probability of Undetected Intrusion in Polygonal Environments
Kloder, StephenUniv. of Illinois at Urbana-Champaign
Hutchinson, SethUniv. of Illinois